CN108564214B - Aviation mine-laying sea area optimization model - Google Patents

Aviation mine-laying sea area optimization model Download PDF

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CN108564214B
CN108564214B CN201810323899.9A CN201810323899A CN108564214B CN 108564214 B CN108564214 B CN 108564214B CN 201810323899 A CN201810323899 A CN 201810323899A CN 108564214 B CN108564214 B CN 108564214B
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CN108564214A (en
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潘长鹏
陈榕
韩玉龙
王磊
陈洁
刘克
刘传辉
高小标
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Naval Aeronautical University
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Abstract

The invention aims to provide an aviation mine laying sea area optimal selection model, which comprises the steps of firstly constructing a multilevel evaluation index system of the mine obstacle fighting efficiency, the condition that ships pass through a mine area, the enemy mine hunting capability, the military strength and firepower requirement and the mine laying machine comprehensive fighting index; and then establishing a comprehensive fuzzy evaluation model, carrying out comprehensive evaluation on each mine laying area by adopting a three-level model of multi-level comprehensive evaluation and a weighted average method according to the multi-level evaluation index system, carrying out first-level fuzzy evaluation, carrying out second-level fuzzy evaluation according to the result of the first-level fuzzy evaluation, and then carrying out third-level fuzzy evaluation, wherein the evaluation result is the final evaluation value of each mine laying area, and accordingly, the goodness and badness of each mine laying area is obtained, so that the optimal area of the aviation mines laying is preferably selected. The method has the beneficial effect of having important significance for actually improving the aviation mine-laying fighting capacity.

Description

Aviation mine-laying sea area optimization model
Technical Field
The invention belongs to the technical field of military operation and planning, and relates to an aviation mine laying sea area optimal selection model.
Background
Barrier blockade is a traditional marine blockade mode, and aviation mine laying is an important mine laying means. Factors influencing the mine laying area are selected from the mine laying area by depending on experience for a long time, and a mine laying area evaluation index system of a complete system is not formed. By analyzing the battle technical performance of the mine laying machine and the typical battlefield environment, the feasibility and the necessity of the mine laying machine for implementing attack mine laying operation on a main port in a certain area are determined, and a basis is provided for decision of a chief authority; in order to improve the blocking efficiency to the maximum extent, a method combining qualitative analysis and quantitative analysis is adopted to optimize the suitable mine distribution area of a main port in a certain area, and the mine distribution effect is subjected to simulation demonstration, so that the method is beneficial to improving the pertinence and the scientificity of the aviation mine distribution task planning work; through the research of the aviation mine arrangement operation scheme, the method is beneficial to further refining and perfecting the operation plan and the pilot plan.
Disclosure of Invention
The invention aims to provide an aviation mine laying sea area optimal selection model, and solves the problem of improving the aviation mine laying blocking efficiency in future maritime blocking operations. The method has the beneficial effect of having important significance for actually improving the aviation mine-laying fighting capacity.
The technical scheme adopted by the invention is that
1. An aviation mine laying sea area optimization evaluation index system;
a multilevel evaluation index system taking the mine obstacle combat efficiency, the condition that ships pass through a mine area, the enemy mine-hunting ability, the military strength and firepower requirement and the mine-laying machine comprehensive combat index as secondary indexes is mainly constructed, and the comprehensive weight of the evaluation index is obtained by applying an AHP method, a queuing theory and an expert evaluation method.
2. Evaluating an index parameter calculation model;
in the optimization evaluation index system of the aviation mine laying sea area, the battle efficiency of the mine obstacle and the comprehensive battle index of the mine laying machine are key indexes, so that an evaluation model is established for the battle efficiency of the mine obstacle and the comprehensive battle index of the mine laying machine.
(1) Model for evaluating fighting efficiency of mine obstacle
1) Probability of damage from mine obstacle
Suppose that the front side width d is arranged outside a certain port of an enemylmDepth of llmAnd the range of the rectangular mine area is constant, and the number of mines is NlmAnd the distribution is irregular, the single killing probability of the mines is approximately consistent, wherein N isdmThe fixed number of times of the mine is cdm. The speed of each ship for formation of enemy surface ships is vesThe number of the ship is NesFormation width of desThe longitudinal distance between enemy ships is lesAnd the physical fields of the ships are approximately the same. According to Nlm+Ndmcdm＞Nes，Nlm+Ndmcdm＜Nes，Nlm+Ndmcdm＝NesEstablishing a state transition equation under three different conditions, and solving the probability that the enemy ship is attacked but not destroyed when entering the thunder area as
Figure RE-GDA0001683355370000021
In the formula, piIf there are i mines damaging the ship, i is 0,1,2, …, Nlm+Ndmcdm-1；pomThe single mine killing probability; n is a radical ofm_maxThe maximum number of times a enemy ship encounters a mine in a mine area. No mine damages the enemy ship after the enemy ship enters the mine area until the enemy ship passes through the mine area and is not attacked at the probability
Figure RE-GDA0001683355370000022
In the formula, λesIs the average number of ships that reach the mine area per unit time, QesFor average lingering strength of enemy ships in the mine area, i.e.
Figure RE-GDA0001683355370000023
In the formula, NresThe number of superposed firepowers borne by enemy ships in the thunder area; n is a radical ofrdmIs NresThe fixed times of the middle setter is not the firepower overlapping number of 0; llm_iThe damage range of the ith mine; qesiIs the lingering intensity when the ith fire overlap may be experienced. When an enemy ship enters a thunder area, no mine is used for damaging the enemy ship, and the enemy ship is damaged before passing through the thunder area but is not completely destroyed
Figure RE-GDA0001683355370000031
So that the damage probability of the flood mine obstacle to the surface ship of the enemy is
Figure RE-GDA0001683355370000032
2) Mine obstacle blocking time
Factors influencing the obstruction blocking time of the mine mainly include the effective combat service period of the mine, environmental parameters, the fighting capacity of enemies against the mine, and the like. The influence parameters of environmental factors such as hydrology and geography on the effectiveness of the mine in the blockade operation are set as
Figure RE-GDA0001683355370000033
The effect of the fighting ability of enemy against the mine is
Figure RE-GDA0001683355370000034
Lightning barrier repair enhancement influencing parameter
Figure RE-GDA0001683355370000035
The mine obstacle blocking time can be approximated to
Figure RE-GDA0001683355370000036
In the formula, temThe validity period of the mine battle is represented; k represents the distributed mine type.
3) Mine obstacle vitality
The life index of the mine obstacle mainly depends on the two aspects of the sweep resistance of the mine obstacle and the natural dilution resistance of the mine individual.
Factors influencing the anti-scanning capacity of the mine obstacles mainly comprise structural parameters of the mine obstacles, such as the front width, the depth, the type and the number of mines and the like of the mine obstacles, and are influenced by factors such as the fighting capacity of enemy anti-mines and the using mode of anti-mine weapons. In the time domain, the fighting adherence can be estimated as
Figure RE-GDA0001683355370000037
In the formula，NsweeperThe number of enemy minesweeping vessels; t is tosbreakThe time for opening up the channel required by a single mine-sweeping naval vessel; l issalThe distance between the berthing place of the enemy mine-sweeping naval vessel and the anti-mine operation area is obtained; tau issweepIs a weather correction coefficient; v. ofsweeperThe voyage speed of the enemy mine-sweeping naval vessel; t is ttadThe daily working time of the enemy anti-naval vessel; t is twibThe time for the enemy anti-flood naval vessels to stay in the base during the return voyage supply; n is a radical ofsfsIs the self-power of enemy anti-naval vessels.
The natural dilution resistance of the mine obstacle is considered from the time domain, namely the time for which the mine obstacle is influenced by natural dilution and the damage efficiency is not lower than a specified level, and the factors influencing the index mainly comprise: reliability of operation R of individual minepm(t), mine density and specified allowable performance level eaelAnd the like. If as a function of time t Edm＝fdm(t) characterization of the relationship between the efficacy of the mine obstacle and its operational reliability, since the time required to clear a mine obstacle is generally shorter than the time required for the mine obstacle to naturally thin, the life of the mine obstacle can be expressed as
Figure RE-GDA0001683355370000041
In the formula, pspoeThe possibility of removing the mine barrier by adopting an anti-mine means for the enemy,
Figure RE-GDA0001683355370000042
is fdmThe inverse of (c).
By quantitative analysis of the damage probability p of the mine obstacledmBlocking time tblankAnd vitality tvatalityAfter each index is subjected to standardization treatment, the battle efficiency of the mine obstacle can be obtained by adopting a gray comprehensive evaluation method
Ecm＝fgrey_evaluation(pdm,tblank,tvatality)＝Dopm×Wopm (9)
In the formula (f)grey_evaluationAs a function of the gray comprehensive evaluation method, DopmAnd WopmRespectively representing each index evaluation matrix and the weight distribution vector.
(2) Mine machine comprehensive combat index evaluation model
1) Route security calculation
Attack mine distribution is usually carried out in an enemy water control area, is greatly threatened by enemy air defense fire, and is influenced by terrain and climate factors. Route security can be characterized by a threat cost as a cost-type indicator, i.e.
Figure RE-GDA0001683355370000043
In the formula, proute_costRepresenting an airway threat cost; p is a radical oftor、ptom、ptotAnd ptowRespectively representing the threat probabilities, alpha, introduced by radar, air-defense fire, terrain and severe weatherrci(i ═ 1,2,3,4) are weighting coefficients corresponding to the threat probabilities of the respective items.
2) Mine task validity calculation
Factors influencing the effectiveness of a mine laying task are mainly the coverage rate of mine laying points, the mine laying precision, the number of mines laid and the like when the attack mine laying machine is implemented. Wherein the coverage rate of the mine laying points represents the number N of mine laying points which can be implemented by flying according to the air routepmpNumber of mine laying points N corresponding to total requirementtmpThe ratio of (A) to (B); the mine laying precision represents the position deviation degree delta C of the actual mine laying point and the mine laying point formulated in the fighting schemelocation(ii) a Number of mines deployed, i.e. number of actual mines deployed at mine deployment site Npm. If the fuzzy comprehensive evaluation method is adopted, the effectiveness of the task as the benefit type index can be simply expressed as
Figure RE-GDA0001683355370000051
In the formula, BmA task effectiveness degree evaluation function corresponding to the planned route is shown,
Figure RE-GDA0001683355370000052
representing fuzzy weight vectors corresponding to the mine task effectiveness evaluation factor set,
Figure RE-GDA0001683355370000053
representing the fuzzy relationship of the factor set to the evaluation parameter set.
3) Flight constraint calculation
And the fuel constraint is fully considered in the route planning so as to ensure the smooth completion of the task. In addition, the maneuvering performance parameters of the mine laying machine, such as the maximum turning angle, the maximum climbing gradient, the maximum normal acceleration and the like, and the flight precision of the mine laying machine under the condition of interference, can generate constraint on the route planning. Characterizing flight constraints by their cost as a cost-type indicator, i.e.
Figure RE-GDA0001683355370000054
In the formula, proute_constraintRepresenting the airway constraint cost; p is a radical ofcof、pcoh、pcomAnd pcopRespectively represents the constraint cost probability, beta, of fuel oil, the time for executing task, the maneuverability of the mine laying machine and the introduction of flight precisionrciAnd (i ═ 1,2,3,4) represents a weighting coefficient corresponding to each item of constraint cost probability.
4) Mine machine comprehensive combat index calculation
The route safety cost p in the attack mine laying operation of the mine laying machine is obtained by the calculationroute_costEffectiveness of mine laying task pvalidityAnd the cost p of the airway constraintroute_constraintThe method establishes a model for evaluating the comprehensive operational indexes of the mine laying machine as
Figure RE-GDA0001683355370000061
In the formula, xirccRepresenting a weight ratio of the airway security cost to the airway constraint cost; etarccFor balancing coefficients, for adjusting the route safetyThe order of magnitude of the price and the cost of the airway constraint.
3. Mine laying machine area optimization model
Establishing a comprehensive fuzzy evaluation model, adopting a three-level model of multi-level comprehensive evaluation according to the index system, and carrying out comprehensive evaluation on each mine laying area by using a weighted average method, wherein the evaluation model is as follows:
let n be included in a certain level of evaluation factors, and set of constituent factors U ═ U1,U2…UnTo UiThe factor (i-1, 2, … n) is divided into four evaluation levels, wherein one evaluation level is good in mine laying area, the second evaluation level is good in mine laying area, the third evaluation level is general in mine laying area, and the fourth evaluation level is poor in mine laying area, so that an evaluation set V-V (V-V) is formed1,V2,V3,V4) Fuzzy subset a of U ═ a1，a2，…anIs the weight assignment of each factor, where aiThe weight value corresponding to the ith factor meets the following requirements:
Figure RE-GDA0001683355370000062
for each single factor UiAll have a fuzzy criterion Ri ═ (r)i1，ri2，ri3，ri4) Thus, a decision matrix of the Braille region for n factors is constructed.
Figure RE-GDA0001683355370000063
Wherein the content of the first and second substances,
Figure RE-GDA0001683355370000064
thus, the comprehensive judgment B:
Figure RE-GDA0001683355370000071
wherein:
Figure RE-GDA0001683355370000072
according to the steps, first-level fuzzy evaluation is firstly carried out, second-level fuzzy evaluation is carried out according to the result of the first-level fuzzy evaluation, then third-level fuzzy evaluation is carried out, the result of the evaluation is the final evaluation value of each mine laying area, and accordingly the goodness and badness degree of each mine laying area can be obtained, and the optimal area of the aviation mine laying is preferably selected.
Drawings
FIG. 1 is a schematic diagram of an aviation Braun sea area preferred assessment index system;
fig. 2 is a schematic diagram of a preselected mine laying area in a certain port.
Detailed Description
The preferred model of the AHP-based aviation mine laying sea area of the present invention is described in detail below in conjunction with the implementation of blockade combat of an important port in a certain area by aviation mine laying. FIG. 1 is a preferred assessment index system for an aviation mine-laying sea area according to the present invention.
Optimization research of mine laying area of certain port blocked by aviation mine laying
And carrying out optimization analysis on the selection of the mine laying area by taking the implementation of mine laying fighting on a port of a certain area as an example according to the optimization evaluation index system and the optimization model of the aviation mine laying sea area.
(1) According to the port geographical hydrological condition, ship navigation condition, bomb type mine performance parameters and the influence of action of possible mine hunting of enemy, combining the above principles, six areas of possible mine laying in air and air are preselected in a qualitative mode inside and outside a port, as shown in fig. 2.
(2) Comprehensive judgment is carried out on a preselected mine laying area of a certain port
1) Preliminary evaluation analysis
According to a certain evaluation standard, the evaluation factors at all levels are respectively evaluated to obtain 6 evaluation values V-V (V-V) of the simulated Braille regions1，V2，V3，V4) And then, according to the weight distribution of each factor, obtaining the judgment value B of each judgment factor.
Such as each mine laying area U21The evaluation values V of the factors are shown in Table 1.
TABLE 1 Brayton area U21Evaluation value of factor
Region(s) 1 2 3 4 5 6
V1 0.5 0 0 0 0 0.5
V2 0.5 0 0 1 0 0.5
V3 0 1 0 0 0 0
V4 0 0 1 0 0 0
U22The evaluation values of the factors are shown in Table 2.
TABLE 2U22Evaluation value of factor
Region(s) 1 2 3 4 5 6
V1 0 0 1 0.5 0.5 0
V2 0 0 0 0.5 0.5 0
V3 0.5 0.5 0 0 0 1
V4 0.5 0.5 0 0 0 0
Is provided with a pair of U21,U22The weight of the factor is assigned as a (0.45, 0.55), and the pass condition U of each area about the ship is obtained from the formula B AR2Evaluation value B of(2)See table 3.
TABLE 3U2Evaluation value B of(2)
Region(s) 1 2 3 4 5 6
V1 0 0.225 0.55 0.275 0.275 0.225
V2 0 0.225 0 0.725 0.725 0.225
V3 0.725 0.275 0 0 0 0.55
V4 0.275 0.275 0.45 0 0 0
By analogy, the judgment value B of the first-level judgment factor of each region can be obtained(1)、B(2)、B(3)、B(4)、 B(5)。
2) Comprehensive evaluation and analysis
From each region U1、U2、U3、U4、U5The final judgment result of each region can be obtained by the judgment value of (2): suppose for U1、U2、U3、U4、U5The weight of the factor is assigned a to (0.25, 0.15, 0.25, 0.15, 0.2) and the final assessment for each region is found from B to A R, see table 4:
TABLE 4 Final evaluation values for the regions
Region(s) 1 2 3 4 5 6
V1 0.141 0.349 0.393 0.390 0.186 0.075
V2 0.260 0.290 0.232 0.407 0.365 0.125
V3 0.404 0.260 0.243 0.158 0.449 0.110
V4 0.195 0.101 0.132 0.045 0 0.690
V1+V2 0.401 0.639 0.625 0.797 0.551 0.20
According to each region V1+V2The rank of the priority of each region can be obtained as: 4. 2,3, 5, 1, 6; according to the sequence and the aviation mine laying fighting capacity, the entrance and exit at the south end of the port can be selected as the best area for laying mines.
The invention discloses an aviation mine laying sea area optimization model, belongs to the field of military operational research, and solves the problem that selection of an aviation mine laying sea area depends on empirical decision and consideration is incomplete for a long time. The model provides an aviation mine distribution area optimal selection model based on a fuzzy AHP method by constructing an aviation mine distribution area optimal selection evaluation index system. The method can be used for the aerial mine laying task planning work of aviation troops and has important theoretical support for improving the aviation mine laying fighting capacity.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention in any way, and all simple modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the present invention.

Claims (1)

1. The model is optimized in aviation mine laying sea area, its characterized in that: firstly, a multilevel assessment index system of the naval mine obstacle fighting efficiency, the condition of a ship passing through a mine area, the ability of an enemy to sweep and hunt mines, the force and firepower requirements and the comprehensive fighting index of the mine laying machine is established, wherein the naval mine obstacle fighting efficiency is obtained according to a naval mine obstacle fighting efficiency assessment model, and the comprehensive fighting index of the mine laying machine is obtained according to the comprehensive fighting index assessment model of the mine laying machine; establishing a comprehensive fuzzy evaluation model, carrying out comprehensive evaluation on each mine laying area by adopting a three-level model of multi-level comprehensive evaluation and a weighted average method according to the multi-level evaluation index system, carrying out first-level fuzzy evaluation, carrying out second-level fuzzy evaluation according to the result of the first-level fuzzy evaluation, and carrying out third-level fuzzy evaluation, wherein the evaluation result is the final evaluation value of each mine laying area, and accordingly, the quality degree of each mine laying area is obtained, so that the optimal area of the aviation mine laying is preferably selected;
the model for evaluating the fighting efficiency of the mine obstacle is as follows:
1) probability of damage from mine obstacle
Arranged outside a port of an enemy and provided with a front surface with a width dlmDepth of llmAnd the range of the rectangular mine area is constant, and the number of mines is NlmAnd the distribution is irregular, the single killing probability of the mines is approximately consistent, wherein N isdmThe fixed number of times of the mine is cdmThe speed of each ship for formation of enemy surface ships is vesThe number of the ship is NesFormation width of desThe longitudinal distance between enemy ships is lesAnd the physical fields of the ships are approximately the same according to Nlm+Ndmcdm＞Nes，Nlm+Ndmcdm＜Nes，Nlm+Ndmcdm＝NesEstablishing a state transition equation under three different conditions, and solving the probability that the enemy ship is attacked but not destroyed when entering the thunder area as
Figure FDA0003195815210000011
In the formula, piIf there are i mines damaging the ship, i is 0,1,2, …, Nlm+Ndmcdm-1；pomThe single mine killing probability; n is a radical ofm_maxThe maximum number of times that enemy ships encounter a mine in a mine area; entry of enemy shipNo mine damages the zone after the zone, and the probability that the zone is not attacked after passing through the zone is
Figure FDA0003195815210000012
In the formula, λesIs the average number of ships that reach the mine area per unit time, QesFor average lingering strength of enemy ships in the mine area, i.e.
Figure FDA0003195815210000021
In the formula, NresThe number of superposed firepowers borne by enemy ships in the thunder area; n is a radical ofrdmIs NresThe fixed times of the middle setter is not the firepower overlapping number of 0; llm_iThe damage range of the ith mine; qesiIn order to meet the lingering intensity when the ith fire is possibly overlapped, no mine is used for damaging the enemy ship after the enemy ship enters the thunder area, and the enemy ship is damaged before passing through the thunder area but is not completely destroyed with the probability that the enemy ship is
Figure FDA0003195815210000022
So that the damage probability of the flood mine obstacle to the surface ship of the enemy is
Figure FDA0003195815210000023
2) Mine obstacle blocking time
Factors influencing the blocking time of the mine obstacle mainly include the effective combat service period of the mine, environmental parameters and the fighting capacity of enemy against the mine, and the influence parameters of the environmental factors such as hydrology and geography on the effectiveness of the mine in the blocking operation are set as
Figure FDA0003195815210000024
The effect of the fighting ability of enemy against the mine is
Figure FDA0003195815210000025
Lightning barrier repair enhancement influencing parameter
Figure FDA0003195815210000026
The mine obstacle blocking time can be approximated to
Figure FDA0003195815210000027
In the formula, temThe validity period of the mine battle is represented; k represents the distributed lightning type;
3) mine obstacle vitality
The mine obstacle vitality index mainly depends on two aspects of the anti-sweeping capacity of the mine obstacle and the anti-natural thinning capacity of individual mines, the analysis is carried out in a time domain range, and the fighting adherence is estimated as
Figure FDA0003195815210000031
In the formula, NsweeperThe number of enemy minesweeping vessels; t is tosbreakThe time for opening up the channel required by a single mine-sweeping naval vessel; l issalThe distance between the berthing place of the enemy mine-sweeping naval vessel and the anti-mine operation area is obtained; tau issweepIs a weather correction coefficient; v. ofsweeperThe voyage speed of the enemy mine-sweeping naval vessel; t is ttadThe daily working time of the enemy anti-naval vessel; t is twibThe time for the enemy anti-flood naval vessels to stay in the base during the return voyage supply; n is a radical ofsfsIs the self-power of enemy anti-naval vessels; as a function of time tdm＝fdm(t) characterizing the relationship between the damage performance and the reliability of the mine damage, the life of the mine damage can be expressed as
Figure FDA0003195815210000032
In the formula, pspoeThe possibility of removing the mine barrier by adopting an anti-mine means for the enemy,
Figure FDA0003195815210000033
is fdmBy quantitative analysis of the probability p of damage of the lightning obstacledmBlocking time tblankAnd vitality tvatalityAfter each index is subjected to standardized treatment, the battle efficiency of the mine obstacle can be obtained by adopting a gray comprehensive evaluation method
Ecm＝fgrey_evaluation(pdm,tblank,tvatality)＝Dopm×Wopm (9)
In the formula (f)grey_evaluationAs a function of the gray comprehensive evaluation method, DopmAnd WopmRespectively representing each index judgment matrix and a weight distribution vector;
the mine machine comprehensive combat index evaluation model is as follows:
1) route security calculation
Route security can be characterized by a threat cost as a cost-type indicator, i.e.
proute_cost＝αrc1ptor+αrc2ptom+αrc3ptot+αrc4ptow (10)
In the formula, proute_costRepresenting an airway threat cost; p is a radical oftor、ptom、ptotAnd ptowRespectively representing the threat probabilities, alpha, introduced by radar, air-defense fire, terrain and severe weatherrci(i ═ 1,2,3,4) are weighting coefficients for the threat probabilities of the respective terms;
2) mine task validity calculation
The factors influencing the effectiveness of the mine laying task include mine laying point coverage rate, mine laying precision and mine laying quantity, wherein the mine laying point coverage rate represents the number N of mine laying points which can be implemented by flying according to the air routepmpNumber of mine laying points N corresponding to total requirementtmpThe ratio of (A) to (B); mine for treating hepatitis BDegree of positional deviation Delta C between actual and planned pointslocation(ii) a Number of mines deployed, i.e. number of actual mines deployed at mine deployment site NpmIf the fuzzy comprehensive evaluation method is adopted, the task effectiveness as the benefit type index can be expressed as
Figure FDA0003195815210000041
In the formula, BmA task effectiveness degree evaluation function corresponding to the planned route is shown,
Figure FDA0003195815210000042
representing fuzzy weight vectors corresponding to the mine task effectiveness evaluation factor set,
Figure FDA0003195815210000043
representing a fuzzy relationship of the factor set to the evaluation parameter set;
3) flight constraint calculation
Characterizing flight constraints by their cost as a cost-type indicator, i.e.
proute_constraint＝βrc1pcof+βrc2pcoh+βrc3Pcom+βrc4Pcop (12)
In the formula, proute_constraintRepresenting the airway constraint cost; p is a radical ofcof、pcoh、pcomAnd pcopRespectively represents the constraint cost probability, beta, of fuel oil, the time for executing task, the maneuverability of the mine laying machine and the introduction of flight precisionrci(i ═ 1,2,3,4) represents the weighting coefficients corresponding to the constraint cost probabilities of the terms;
4) mine machine comprehensive combat index calculation
Route safety cost p in attack mine laying operation of mine laying machineroute_costEffectiveness of mine laying task pvalidityAnd the cost p of the airway constraintroute_constraintThe method establishes a model for evaluating the comprehensive operational indexes of the mine laying machine as
Figure FDA0003195815210000044
In the formula, xirccRepresenting a weight ratio of the airway security cost to the airway constraint cost; etarccThe balance coefficient is used for adjusting the magnitude of the airway safety cost and the airway constraint cost;
the three-level model of the multi-level comprehensive evaluation is as follows:
let n be included in a certain level of evaluation factors, and set of constituent factors U ═ U1,U2…UnTo UiThe factor (i-1, 2, … n) is divided into four evaluation levels, wherein one evaluation level is good in mine laying area, the second evaluation level is good in mine laying area, the third evaluation level is general in mine laying area, and the fourth evaluation level is poor in mine laying area, so that an evaluation set V-V (V-V) is formed1,V2,V3,V4) Fuzzy subset a of U ═ a1，a2，…anIs the weight assignment of each factor, where aiThe weight value corresponding to the ith factor meets the following requirements:
Figure FDA0003195815210000051
for each single factor UiAll have a fuzzy criterion Ri ═ (r)i1，ri2，ri3，ri4) Then, a judgment matrix of the Braun area for n factors is formed
Figure FDA0003195815210000052
Wherein the content of the first and second substances,
Figure FDA0003195815210000053
thus, the comprehensive judgment B:
Figure FDA0003195815210000054
wherein:
Figure FDA0003195815210000055
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