CN109255491A - A kind of cooperative air-defense mission planning method and system of many types of antiaircraft weapon - Google Patents
A kind of cooperative air-defense mission planning method and system of many types of antiaircraft weapon Download PDFInfo
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Abstract
The present invention provides a kind of cooperative air-defense mission planning method and system of many types of antiaircraft weapon, according to the performance indicator of many types of antiaircraft weapon and the track of aerial target, estimate each weapon to the interception initial time of each target, interception finish time, interception number, determine all kinds of constraint conditions, using numerical optimisation algorithms, plan multiple weapons to the interception timing of multiple targets in controlled situation, the cooperative air-defense task indicated with " period-weapon-target " corresponding relationship is obtained, optimal interception fighting effect is reached.The present invention is suitable for the mission plan of many types of antiaircraft weapon, commander's aid decision, Operational Capability Assessment etc..
Description
Technical field
It the present invention relates to air defense and calculates, reckoning field, and in particular, to a kind of cooperative air-defense of many types of antiaircraft weapon times
Business method and system for planning.
Background technique
Modern Aerial Defense system generally comprises many types of weapon, constitutes high-altitude, hollow, low latitude and long-range, intermediate range, short range and combines
Full airspace, the multilayer organization of fire.Since the performance of different antiaircraft weapons has differences, and the quantity of antiaircraft weapon and confrontation are more
The ability of target is restricted, it is therefore desirable to reasonably be planned the combat duty of many types of antiaircraft weapon, realize firepower
Reasonable distribution reaches optimal fighting effect.
Mission plan is a dynamic Weapon-Target Assignment Problem, i.e., total engagement time is divided into a system
The sufficiently long period is arranged, all or part of weapon-shooting target and observing effect are allowed within each period, until can not
Continue the shooting (research report " Some delivered equal to 2 months nineteen nineties in Massachusetts Institute Technology see Patrick A Hosein
Analytical Results for the Dynamic Weapon-Target Allocation Problem").Generally adopt
Dynamic Weapon-Target Assignment Problem is solved with the mode of hierarchy optimization, forms " period-weapon-target " corresponding relationship
The task scheme of expression (" hits weapon-mesh see Yang Qisong etc. " trajectory journal " 2 phases in 2017 with air-to-ground attack over the ground stage by stage
Mark distribution modeling and decision "), (Shao Jianzhao etc. " system engineering and electronic technology " 8 phases in 2016, " double-deck firepower was assisted for missile defence
With the firepower scheduling in Anti-TBM "), Warship Air Defense (applies monarch outstanding person etc. " command and control with emulate " 3 phases in 2015 and " is based on sequential
The fleet multistage Fire Distribution of countermeasure ") etc. carried out research for application background.But the division of engagement time section is drawn
Human factor is entered, has be easy to cause the firepower gap between each stage, especially air defense objective has been planned, multiple targets are often not
The Engagement Area of different weapons can be entered simultaneously by optimal situation, and the time of different weapons shooting different target is different, leads
The division of period is caused to determine that the weapon for keeping part shooting time shorter loses the machine for shooting other targets by longest shooting time
Meeting.In view of the above-mentioned problems, needing to study a kind of cooperative air-defense mission planning method of new many types of antiaircraft weapon.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of cooperative air-defense tasks of many types of antiaircraft weapon
Method and system for planning.
It provides according to the present invention
A kind of cooperative air-defense mission planning method of many types of antiaircraft weapon, comprising:
Estimating step: performance indicator and each targetpath according to each weapon estimate that each weapon plays the interception of each target
Begin moment, interception finish time and interception number；
It constrains and determines step: interception target number constraint while determining each weapon, to the weapon of each target interception simultaneously
Number constraint intercepts count constraint and each weapon to the interception less advantageous of each target to each target；
Matrix establishment step: according to the result of estimating step and constrain determine step as a result, establishing each weapon to each
The interception initial time matrix of target intercepts finish time matrix and intercepts less advantageous matrix；
Step of converting: according to the matrix of foundation, by the cooperative air-defense mission planning problem of many types of antiaircraft weapon be converted by
The optimization problem of constraint, optimizing index are total interception less advantageous, and constraint includes no time conflict constraint and intercepts count constraint；
Solution procedure: controlled optimization problem is solved using numerical optimisation algorithms, obtains the collaboration of many types of antiaircraft weapon
Air defense objective programme.
Preferably, the constraint determines in step, each weapon is to the interception less advantageous of each target, by each weapon to each mesh
Target kills probability qijIt determines, according to weapon WiTo target TjInterception frequency nijThe killing probability q meter intercepted each time
It calculates, it may be assumed that
Preferably, the quantity of weapon W is n in the matrix establishment step, the quantity of target T is m, each weapon pair
The interception initial time matrix T of each target0, intercept finish time matrix Tf, intercept less advantageous matrix Q, have following form:
In formula, tij0Represent weapon WiTo target TjInterception initial time, tijfRepresent weapon WiTo target TjInterception knot
Beam moment, qijRepresent weapon WiTo target TjInterception less advantageous.
Preferably, in the solution procedure, solve controlled optimization problem using numerical optimisation algorithms, it is obtained most
Excellent solution D has following form:
In formula, dij=0 or 1, dij=1 represents in [tij0,tijf] in the period by weapon WiInterception target Tj, dij=0 generation
Table is in [tij0,tijf] weapon W in the periodiNot interception target Tj。
Preferably, in the step of converting, no time conflict constraint representation are as follows:
C(T0*D,Tf*D)-NW≤ 0 and C ((T0*D)T,(Tf*D)T)-NT≤0
In formula, operator * indicates for the identical element of row and column in two matrixes with dimension to be multiplied respectively；
Function C (T0*D,Tf* D) it indicates, respectively to T0* D and Tf* every row of D calculates nonzero element tij0And tijfIt indicates
Several periods [tij0,tijf] overlapping number gi, utilize whole giConstitute column vector [g1g2…gn]T；
Column vector NW=[nW1nW2…nWn]T, element nWiBy weapon WiInterception target number constraint determines simultaneously；
Function C ((T0*D)T,(Tf*D)T) indicate, respectively to T0* D and Tf* each column of D calculates nonzero element tij0And tijf
Several periods [t indicatedij0,tijf] overlapping number ki, utilize whole kiConstitute column vector [k1k2…km]T；
Column vector NT=[nT1nT2…nTm]T, element nTjBy to target TjWhile intercept weapon number constraint determine.
Preferably, intercepting count constraint indicates in the step of converting are as follows:
I1×n×(NI*D)-R≥0
In formula, I1×nRow vector is tieed up for the n that element is 1；NIMatrix, element n are tieed up for n × mijBy weapon WiTo target
TjInterception number determine；R is that m ties up row vector, element rjBy to target TjInterception count constraint determine.
Preferably, total less advantageous that intercepts indicates in the step of converting are as follows:
I1×n×(Q*D)×Im×1
In formula, Im×1It is 1 m dimensional vector for element.
Preferably, controlled optimization problem indicates are as follows:
The matrix D that an element is 0 or 1 is found, meets without time conflict constraint, intercept count constraint, make always to intercept
Less advantageous maximizes, triple (T0、Tf, D) indicate the cooperative air-defense mission planning scheme of many types of antiaircraft weapon, i.e. " time
The corresponding relationship of section-weapon-target ".
A kind of cooperative air-defense task grouping of many types of antiaircraft weapon provided according to the present invention, comprising:
Estimation module: performance indicator and each targetpath according to each weapon estimate that each weapon plays the interception of each target
Begin moment, interception finish time and interception number；
Constrain determining module: interception target number constraint while determining each weapon, to the weapon of each target interception simultaneously
Number constraint intercepts count constraint and each weapon to the interception less advantageous of each target to each target；
Matrix establishes module: blocking as a result, establishing each weapon to each target according to the result of estimation and constraint are determining
Initial time matrix is cut, finish time matrix is intercepted and intercepts less advantageous matrix；
Conversion module: according to the matrix of foundation, by the cooperative air-defense mission planning problem of many types of antiaircraft weapon be converted by
The optimization problem of constraint, optimizing index are total interception less advantageous, and constraint includes no time conflict constraint and intercepts count constraint；
It solves module: solving controlled optimization problem using numerical optimisation algorithms, obtain the collaboration of many types of antiaircraft weapon
Air defense objective programme.
Preferably, in the constraint determining module, each weapon is to the interception less advantageous of each target, by each weapon to each mesh
Target kills probability qijIt determines, according to weapon WiTo target TjInterception frequency nijThe killing probability q meter intercepted each time
It calculates, it may be assumed that
Compared with prior art, the present invention have it is following the utility model has the advantages that
1) existing method first divides the belligerent stage, is again weapon allocation target within each stage, be easy to cause each belligerent
Firepower gap between stage；The present invention according to each weapon to the interception period of each target, be substantially to no time conflict and
The period for meeting shooting number requirement is combined, and forms the cooperative air-defense task of more weapons, can give full play to various anti-
The fight capability of empty weapon realizes the orderly linking of antiaircraft fire.
2) no time conflict constraint of the present invention, it is contemplated that limitation of the weapon multiple target capability to firepower, and adapt to one
A target is simultaneously by multiple weapon-shootings (such as antiaircraft gun, needs more antiaircraft guns while shooting forms barrage) and a target only by one
The two kinds of shooting requirements of a weapon-shooting (such as air defence missile avoids different weapons from interfering with each other), method have relatively extensive more suitable
The property used.
3) interception count constraint of the present invention, it is contemplated that the minimum interception number requirement to each target guarantees to every
A target has enough interceptor meetings and killing probability, can be avoided total less advantageous that intercepts and maximizes but penetrate to individual target
Hitting number not enough leads to the extreme case of target penetration.
4) for the count constraint each weapon of the present invention that intercepts to the interception less advantageous of each target, removing can be general by aforementioned killing
Outside rate decision, it can also be determined by intercepting the inverse of time and/or intercepting efficiency-cost ratio, realize that engagement time is most short and/or interception is imitated
Take the requirement for meeting different combat duties than maximum optimization aim, method has preferable flexibility.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of flow chart of the cooperative air-defense mission planning method of many types of antiaircraft weapon proposed by the present invention；
Fig. 2 is the application scenarios of the embodiment of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
As shown in Figure 1, a kind of cooperative air-defense mission planning method of many types of antiaircraft weapon provided by the invention, comprising:
Estimating step: performance indicator and each targetpath according to each weapon estimate that each weapon plays the interception of each target
Begin moment, interception finish time and interception number；
It constrains and determines step: interception target number constraint while determining each weapon, to the weapon of each target interception simultaneously
Number constraint intercepts count constraint and each weapon to the interception less advantageous of each target to each target；
Matrix establishment step: according to the result of estimating step and constrain determine step as a result, establishing each weapon to each
The interception initial time matrix of target intercepts finish time matrix and intercepts less advantageous matrix；
Step of converting: according to the matrix of foundation, by the cooperative air-defense mission planning problem of many types of antiaircraft weapon be converted by
The optimization problem of constraint, optimizing index are total interception less advantageous, and constraint includes no time conflict constraint and intercepts count constraint；
Solution procedure: controlled optimization problem is solved using numerical optimisation algorithms, obtains the collaboration of many types of antiaircraft weapon
Air defense objective programme.
Wherein, it constrains and determines in step, each weapon is killed the interception less advantageous of each target by each weapon to each target
Hurt probability qijIt determines, according to weapon WiTo target TjInterception frequency nijThe killing probability q intercepted each time is calculated, it may be assumed that
In matrix establishment step, the quantity of weapon W is n, the quantity of target T is m, interception of each weapon to each target
Initial time matrix T0, intercept finish time matrix Tf, intercept less advantageous matrix Q, have following form:
In formula, tij0Represent weapon WiTo target TjInterception initial time, tijfRepresent weapon WiTo target TjInterception knot
Beam moment, qijRepresent weapon WiTo target TjInterception less advantageous.
In solution procedure, controlled optimization problem is solved using numerical optimisation algorithms, obtained optimal solution D has
Following form:
In formula, dij=0 or 1, dij=1 represents in [tij0,tijf] in the period by weapon WiInterception target Tj, dij=0 generation
Table is in [tij0,tijf] weapon W in the periodiNot interception target Tj。
In step of converting, no time conflict constraint representation are as follows:
C(T0*D,Tf*D)-NW≤ 0 and C ((T0*D)T,(Tf*D)T)-NT≤0
In formula, operator * indicates for the identical element of row and column in two matrixes with dimension to be multiplied respectively；
Function C (T0*D,Tf* D) it indicates, respectively to T0* D and Tf* every row of D calculates nonzero element tij0And tijfIt indicates
Several periods [tij0,tijf] overlapping number gi, utilize whole giConstitute column vector [g1g2…gn]T；
Column vector NW=[nW1nW2…nWn]T, element nWiBy weapon WiInterception target number constraint determines simultaneously；
Function C ((T0*D)T,(Tf*D)T) indicate, respectively to T0* D and Tf* each column of D calculates nonzero element tij0And tijf
Several periods [t indicatedij0,tijf] overlapping number ki, utilize whole kiConstitute column vector [k1k2…km]T；
Column vector NT=[nT1nT2…nTm]T, element nTjBy to target TjWhile intercept weapon number constraint determine.
Intercepting count constraint indicates are as follows:
I1×n×(NI*D)-R≥0
In formula, I1×nRow vector is tieed up for the n that element is 1；NIMatrix, element n are tieed up for n × mijBy weapon WiTo target
TjInterception number determine；R is that m ties up row vector, element rjBy to target TjInterception count constraint determine.
Total less advantageous that intercepts indicates are as follows:
I1×n×(Q*D)×Im×1
In formula, Im×1It is 1 m dimensional vector for element.
Controlled optimization problem indicates are as follows:
The matrix D that an element is 0 or 1 is found, meets without time conflict constraint, intercept count constraint, make always to intercept
Less advantageous maximizes, triple (T0、Tf, D) indicate the cooperative air-defense mission planning scheme of many types of antiaircraft weapon, i.e. " time
The corresponding relationship of section-weapon-target ".
On the basis of a kind of cooperative air-defense mission planning method of above-mentioned many types of antiaircraft weapon, the present invention also provides one kind
A kind of cooperative air-defense task grouping of many types of antiaircraft weapon, comprising:
Estimation module: performance indicator and each targetpath according to each weapon estimate that each weapon plays the interception of each target
Begin moment, interception finish time and interception number；
Constrain determining module: interception target number constraint while determining each weapon, to the weapon of each target interception simultaneously
Number constraint intercepts count constraint and each weapon to the interception less advantageous of each target to each target；
Matrix establishes module: blocking as a result, establishing each weapon to each target according to the result of estimation and constraint are determining
Initial time matrix is cut, finish time matrix is intercepted and intercepts less advantageous matrix；
Conversion module: according to the matrix of foundation, by the cooperative air-defense mission planning problem of many types of antiaircraft weapon be converted by
The optimization problem of constraint, optimizing index are total interception less advantageous, and constraint includes no time conflict constraint and intercepts count constraint；
It solves module: solving controlled optimization problem using numerical optimisation algorithms, obtain the collaboration of many types of antiaircraft weapon
Air defense objective programme.
The present embodiment is suitable for handling the application scenarios of 3 air defence missile weapons interceptions, 5 aerial target, the guarantor of this patent
Shield range is not limited by the present embodiment specific implementation.
The present embodiment is related to a kind of cooperative air-defense mission planning of 3 air defence missile weapons of amphitypy, application scenarios such as Fig. 2 institute
Show；3 air defence missile weapons are respectively W1、W2、W3, weapon W2And W3Belong to same model, performance having the same, weapon W1Belong to another
One model, its performance and weapon W2And W3Difference, solid line fan-shaped region denotes W in Fig. 21、W2、W3Interception range；Target point
It Wei not T1、T2、T3、T4、T5, track is as shown in dotted line with the arrow in Fig. 2.
In conjunction with Fig. 1, embodiment of the present invention is described as follows:
Step 1: performance indicator and each targetpath according to each weapon, when estimating that each weapon originates the interception of each target
It carves, intercepts finish time, intercepts number.According to target T1、T2、T3、T4、T5Speed and its track pass through weapon W1、W2、W3It blocks
The length of range is cut, estimates weapon W1、W2、W3To target T1、T2、T3、T4、T5Interception initial time and intercept finish time such as
Shown in following table:
Table 1 intercepts initial time (unit: s)
| T1 | T2 | T3 | T4 | T5 | |
| W1 | 4 | 3 | 3 | 3 | 5 |
| W2 | 10 | 9 | 11 | 0 | 0 |
| W3 | 0 | 14 | 12 | 12 | 15 |
Table 2 intercepts finish time (unit: s)
| T1 | T2 | T3 | T4 | T5 | |
| W1 | 10 | 9 | 11 | 11 | 15 |
| W2 | 15 | 15 | 16 | 0 | 0 |
| W3 | 0 | 18 | 18 | 18 | 18 |
According to above-mentioned interception initial time and intercept finish time and target T1、T2、T3、T4、T5Speed and weapon
W1、W2、W3The speed of the interceptor of transmitting estimates weapon W1、W2、W3To target T1、T2、T3、T4、 T5Interception number such as following table
It is shown:
Table 3 intercepts number
| T1 | T2 | T3 | T4 | T5 | |
| W1 | 3 | 3 | 3 | 3 | 4 |
| W2 | 2 | 3 | 2 | 0 | 0 |
| W3 | 0 | 2 | 3 | 2 | 1 |
Step 2: interception target number constraint while determining each weapon, to each target at the same the weapon quantity that intercepts about
Beam intercepts count constraint and each weapon to the interception less advantageous of each target to each target.According to weapon W1、W2、W3Property
Can, interception target number constraint is respectively n simultaneouslyW1=3, nW2=2, nW3=2；According to W1、W2、W3For air defence missile weapon,
To avoid interfering with each other between weapon, to target T1、T2、T3、T4、T5The weapon number constraint intercepted simultaneously is respectively nT1=1,
nT2=1, nT3=1, nT4=1, nT5=1；It is assumed that target T2、T3Threat degree be greater than target T5Threat degree, target T5's
Threat degree is greater than target T1、T4Threat degree, the higher target of threat degree should give more multiple interception, according to target T1、
T2、T3、T4、T5Threat degree, if to target T1、T2、 T3、T4、T5Interception count constraint be respectively r1=2, r2=4, r3=
4、r4=2, r5=3；If weapon is 0.6 to the primary interception killing probability of target, according to number is intercepted, weapon is calculated to mesh
It is as shown in the table that target intercepts less advantageous:
Table 4 intercepts less advantageous
| T1 | T2 | T3 | T4 | T5 | |
| W1 | 0.94 | 0.94 | 0.94 | 0.94 | 0.97 |
| W2 | 0.84 | 0.94 | 0.84 | 0 | 0 |
| W3 | 0 | 0.84 | 0.94 | 0.84 | 0.6 |
Step 3: it is advantageous to the interception initial time matrix, interception finish time matrix, interception of each target to establish each weapon
Degree matrix.According to abovementioned steps to intercepting initial time, intercepting finish time and intercepting the calculated result of less advantageous, intercept
Initial time matrix T0, intercept finish time matrix Tf, intercept less advantageous matrix Q it is as follows:
Step 4: converting controlled optimization problem for cooperative air-defense mission planning problem, optimizing index is that total intercept has
Sharp degree, constraint include no time conflict constraint and intercept count constraint.According to the calculating of abovementioned steps, controlled optimization is asked
Topic indicates are as follows:
In formula: D is 3 × 5 dimension matrixes, element dij=0 or 1, it is worth to be optimized；T0、Tf, Q as described in step 3, be 3
× 5 dimension matrixes；NWFor 3 dimensional vectors, NTFor 5 dimensional vectors, NIFor 3 × 5 dimension matrixes, R is 5 dimension row vectors, the following institute of value
Show:
I1×nFor 3 dimension row vectors, Im×1For 5 dimensional vectors, value is as follows:
Step 5: solving controlled optimization problem using numerical optimisation algorithms, obtain the cooperative air-defense of many types of antiaircraft weapon
Mission planning scheme.The present embodiment solves the controlled optimization problem using genetic algorithm, obtains optimal solution are as follows:
Then triple (T0、Tf, D) indicate the cooperative air-defense task scheme of many types of antiaircraft weapon, specifically:
To W1, it is assigned to intercept T in 3s~9s2, 3s~11s intercept T3, 5s~15s intercept T5；
To W2, it is assigned to intercept T in 10s~15s1, 9s~15s intercept T2；
To W3, it is assigned to intercept T in 12s~18s3, 12s~18s intercept T4；
In above-mentioned task scheme, W1The quantity no more than 3 of interception target simultaneously, W2And W3The number of interception target simultaneously
Amount is no more than 2；To T1、T2、T3、T4、T5Each target, while the weapon quantity intercepted is no more than 1；To T1、T2、T3、T4、
T5Interception number be respectively 2 times, 6 times, 6 times, 2 times, 4 times；Above situation meets the no time conflict constraint and intercepts secondary
Number constraint, total less advantageous that intercepts is 6.41, realizes its maximized optimization aim.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit
System and its each device, module, unit with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedding
Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list
Member is considered a kind of hardware component, and to include in it can also for realizing the device of various functions, module, unit
To be considered as the structure in hardware component；It can also will be considered as realizing the device of various functions, module, unit either real
The software module of existing method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of cooperative air-defense mission planning method of many types of antiaircraft weapon characterized by comprising
Estimating step: performance indicator and each targetpath according to each weapon, when estimating that each weapon originates the interception of each target
It carves, intercept finish time and intercept number；
It constrains and determines step: interception target number constraint while determining each weapon, to the weapon quantity of each target interception simultaneously
Constraint intercepts count constraint and each weapon to the interception less advantageous of each target to each target；
Matrix establishment step: according to the result of estimating step and constrain determine step as a result, establishing each weapon to each target
Interception initial time matrix, intercept finish time matrix and intercept less advantageous matrix；
Step of converting: it according to the matrix of foundation, converts the cooperative air-defense mission planning problem of many types of antiaircraft weapon to constrained
Optimization problem, optimizing index be it is total intercept less advantageous, constraint includes no time conflict constraint and intercepts count constraint；
Solution procedure: controlled optimization problem is solved using numerical optimisation algorithms, obtains the cooperative air-defense of many types of antiaircraft weapon
Mission planning scheme.
2. the cooperative air-defense mission planning method of many types of antiaircraft weapon according to claim 1, which is characterized in that it is described about
Beam determines in step, and each weapon is to the interception less advantageous of each target, by each weapon to the killing probability q of each targetijIt determines, according to
According to weapon WiTo target TjInterception frequency nijThe killing probability q intercepted each time is calculated, it may be assumed that
3. the cooperative air-defense mission planning method of many types of antiaircraft weapon according to claim 2, which is characterized in that the square
In battle array establishment step, the quantity of weapon W is n, the quantity of target T is m, interception initial time square of each weapon to each target
Battle array T0, intercept finish time matrix Tf, intercept less advantageous matrix Q, have following form:
In formula, tij0Represent weapon WiTo target TjInterception initial time, tijfRepresent weapon WiTo target TjInterception at the end of
It carves, qijRepresent weapon WiTo target TjInterception less advantageous.
4. the cooperative air-defense mission planning method of many types of antiaircraft weapon according to claim 3, which is characterized in that described to ask
It solves in step, solves controlled optimization problem using numerical optimisation algorithms, obtained optimal solution D has following form:
In formula, dij=0 or 1, dij=1 represents in [tij0,tijf] in the period by weapon WiInterception target Tj, dij=0 represents
[tij0,tijf] weapon W in the periodiNot interception target Tj。
5. the cooperative air-defense mission planning method of many types of antiaircraft weapon according to claim 4, which is characterized in that described turn
Change in step, no time conflict constraint representation are as follows:
C(T0*D,Tf*D)-NW≤ 0 and C ((T0*D)T,(Tf*D)T)-NT≤0
In formula, operator * indicates for the identical element of row and column in two matrixes with dimension to be multiplied respectively；
Function C (T0*D,Tf* D) it indicates, respectively to T0* D and Tf* every row of D calculates nonzero element tij0And tijfWhat is indicated is several
A period [tij0,tijf] overlapping number gi, utilize whole giConstitute column vector [g1g2…gn]T；
Column vector NW=[nW1nW2…nWn]T, element nWiBy weapon WiInterception target number constraint determines simultaneously；
Function C ((T0*D)T,(Tf*D)T) indicate, respectively to T0* D and Tf* each column of D calculates nonzero element tij0And tijfIt indicates
Several periods [tij0,tijf] overlapping number ki, utilize whole kiConstitute column vector [k1k2…km]T；
Column vector NT=[nT1nT2…nTm]T, element nTjBy to target TjWhile intercept weapon number constraint determine.
6. the cooperative air-defense mission planning method of many types of antiaircraft weapon according to claim 4, which is characterized in that described turn
Change in step, intercepting count constraint indicates are as follows:
I1×n×(NI*D)-R≥0
In formula, I1×nRow vector is tieed up for the n that element is 1；NIMatrix, element n are tieed up for n × mijBy weapon WiTo target TjBlock
Number is cut to determine；R is that m ties up row vector, element rjBy to target TjInterception count constraint determine.
7. the cooperative air-defense mission planning method of many types of antiaircraft weapon according to claim 6, which is characterized in that described turn
Change in step, total less advantageous that intercepts indicates are as follows:
I1×n×(Q*D)×Im×1
In formula, Im×1It is 1 m dimensional vector for element.
8. the cooperative air-defense mission planning method of many types of antiaircraft weapon according to claim 7, which is characterized in that constrained
Optimization problem indicate are as follows:
The matrix D that an element is 0 or 1 is found, meets without time conflict constraint, intercept count constraint, makes always to intercept advantageous
Degree maximizes, triple (T0、Tf, D) indicate the cooperative air-defense mission planning scheme of many types of antiaircraft weapon, i.e., " period-is military
The corresponding relationship of device-target ".
9. a kind of cooperative air-defense task grouping of many types of antiaircraft weapon characterized by comprising
Estimation module: performance indicator and each targetpath according to each weapon, when estimating that each weapon originates the interception of each target
It carves, intercept finish time and intercept number；
Constrain determining module: interception target number constraint while determining each weapon, to the weapon quantity of each target interception simultaneously
Constraint intercepts count constraint and each weapon to the interception less advantageous of each target to each target；
Matrix establishes module: rising as a result, establishing each weapon to the interception of each target according to the result of estimation and constraint are determining
Beginning moment matrix intercepts finish time matrix and intercepts less advantageous matrix；
Conversion module: it according to the matrix of foundation, converts the cooperative air-defense mission planning problem of many types of antiaircraft weapon to constrained
Optimization problem, optimizing index be it is total intercept less advantageous, constraint includes no time conflict constraint and intercepts count constraint；
It solves module: solving controlled optimization problem using numerical optimisation algorithms, obtain the cooperative air-defense of many types of antiaircraft weapon
Mission planning scheme.
10. the cooperative air-defense task grouping of many types of antiaircraft weapon according to claim 9, which is characterized in that described
It constrains in determining module, each weapon is to the interception less advantageous of each target, by each weapon to the killing probability q of each targetijIt determines,
According to weapon WiTo target TjInterception frequency nijThe killing probability q intercepted each time is calculated, it may be assumed that
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