CN109582017A - A kind of representation method for the unmanned systems mission planning result for supporting multimode to distribute - Google Patents
A kind of representation method for the unmanned systems mission planning result for supporting multimode to distribute Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The present invention provides a kind of representation methods of unmanned systems mission planning result for supporting multimode to distribute, the message word of mission planning result fixed format is indicated, the message word of different numbers is combined into superwood according to information transmission link bandwidth size to transmit, to support the mission planning result under various modes to distribute.This method forms relatively independent, fixed format message word, is conducive to carry out mission planning result the operations such as increase, deletion and the modification of part by being finely divided to mission planning result.People is drawn in the task weight-normality of loop, the message word of subdivision can neatly be assembled into the superwood of suitable size, can adapt to the information transmission link of different transmission bandwidths.Meanwhile the representation method of this structuring, standardization, task grouping may be implemented and unmanned systems execute the decoupling of platform, so that mission planning result has versatility.
Description
Technical field
The invention belongs to Constructing Electronic Information Engineering fields, and in particular to the structured representation side of task program results
Method.
Background technique
With the continuous improvement of unmanned systems intelligent level, unmanned systems are independent, autonomously carry out particular task becomes
It may.However, on the one hand due to unmanned systems hardware platform and software algorithm limitation, as processor unit, memory cell,
Power supply and the mutually intelligent algorithm etc. that should be able to support, unmanned systems Intellisense level need people auxiliary just can ensure that entirely without
Accidentally identify on the other hand surrounding enviroment are limited to sociology, ethics etc., unmanned systems need people in intelligent decision level
Participation just can ensure that its critical actions is big well-established.Therefore, based on people participate under Intellisense and intelligent decision, with
And someone of unmanned systems entirely autonomous ground Intelligent treatment/unmanned cooperative intelligent system is just becoming the one of intelligent Unmanned Systems development
A important directions.
Unmanned systems mission planning is that people formulates, unmanned systems are executable, action planning in a period of time, including
The task in mission planning and action before action is planned again.Due to the complexity and continuity of task, mission planning result
Representation is also varied.Most commonly task grouping and execution system close coupling, program results are based on spy
The privately owned form of fixed platform.More general representation method has Unified Modeling Language (UML) and extensible markup language (XML).
The former is substantially flow chart, reflects the timing of action and movement.The latter is substantially the dendrogram for being easy to extend, and is described
Each sequence of movement and logical relation for executing entity after Task-decomposing.
But the above method is that mission planning result is given to unmanned systems as a whole to read in, understand and hold
Row.When needing the part to mission planning result to be increased, be deleted or modified, one complete can only be regenerated
Business program results, are then passed to unmanned systems.Meanwhile the above method is appointed in advance mainly for the mission planning before action
Business planning.If requiring manual intervention in task implementation procedure, based on the new mission planning of new environment generation, the above method will
Bring biggish data volume, be unfavorable in real time or near real-time update mission planning.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of representation method of structuring, appoints for unmanned systems
The output of business program results can support preparatory mission planning and people to draw in the task weight-normality of loop in much information transmission bandwidth
In be distributed.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
(1) mission planning result is divided into four parts, including platform load description, task object describe, group behavior is retouched
It states and monomer behavior description；Wherein, platform load description is subdivided into platform information and load information, and task object description is subdivided into
Mission area information and target position information, group behavior description are subdivided into task formation information and control rotation information, monomer
Behavior description is subdivided into way point information and load control information；Various information after subdivision have fixed format, will have
The information of fixed format is known as message word；
(2) according to the meaning and corresponding value range of the field set in each message word, by mission planning result
The corresponding each field for being filled into message word of design parameter value, to completely express mission planning knot with several message words
Fruit；Assuming that mission planning result NAA word length is fixed as LmMessage word indicate；
(3) the maximum word length L once transmitted according to link determines the message word number N=L/L transmitted every timemIf not
Integer is then rounded downwards；The message word of N number of simultaneous transmission is referred to as superwood, and the mixing of different types of message word constitutes superwood；
Since mission planning result shares NAA message word, then need n=NAMission planning result could be sent to nobody by the transmission of/n times
Platform；If not n integer then rounds up；
(4) unmanned platform executes task according to mission planning result；During execution task, if earth station need to appoint
Business carries out weight-normality and draws, and unmanned platform is allowed to execute new mission planning, then passes through the way point of monomer behavior description in message word
Increase, deletion and modification of the information realization to mission planning result；Either increase, modify or delete a course line, generates
Way point primary word in include way point information all must be a way point in original course, if the way point is not former
The last one way point in course line, then it also must be former that the last one way point generated, which extends the way point information for including in word,
A way point in course line；
(5) the message word of task weight plane-generating is sent to unmanned platform according to step (3).
The beneficial effects of the present invention are:
Program results are divided into relatively independent message by carrying out logical division to mission planning result by the present invention
Word had not only improved the versatility of mission planning result output, but also can have been carried out by part messages word to mission planning result flexible
The operations such as increase, deletion and modification.
The message word of N number of simultaneous transmission is combined into a superwood by the present invention, by the message word for combining different number
A superwood is constituted, so that mission planning result is adapted to the distribution under different transmission bandwidth scenes.
The present invention increases mission planning result, deletes and modifies operation, according to extension word in way point information
" operator " field is realized by the way that different values is arranged to the increase of mission planning result, deletion and modification operation.
The present invention using the structured representation of mission planning result by way of dividing independent message word due to both being allowed
Mission planning result has certain versatility, and can construct different superwoods in different information transmission bandwidths and be divided
Hair has effectively achieved the operations such as increase, deletion and the modification drawn to preparatory mission planning and people in the task weight-normality of loop, tool
There is certain engineering application value.
Detailed description of the invention
Fig. 1 is message prefix portion form schematic diagram；
Fig. 2 is platform load description information form schematic diagram, including platform information and load information；
Fig. 3 is task object description information form schematic diagram, including mission area information and target position information；
Fig. 4 is group behavior description information form schematic diagram, including task formation information and control rotation information；
Fig. 5 is monomer behavior description information format schematic diagram, including way point information and load control information；
Fig. 6 is mission planning application of results Sample Scenario schematic diagram.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The object of the present invention is achieved like this:
(1.1) firstly, mission planning result is divided into four parts, platform load description, task object description, group behavior
Description, monomer behavior description, as shown in Figure 1.Wherein, platform load description is subdivided into platform information and load information, task mesh
Mark description is subdivided into mission area information and target position information, and group behavior description is subdivided into task formation information and control is handed over
For information, monomer behavior description is subdivided into way point information and load control information.Various information after subdivision have fixed
Format, it is subsequent that this information with fixed format is known as message word as shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5.
(1.2) then, in each message word according to shown in table 1 field meaning and corresponding value range, by task
The corresponding each field for being filled into message word of the design parameter value of program results, to completely be expressed with several message words
Mission planning result.The number of message word is related with mission planning result, and the scale of mission planning is bigger, and mission planning result is defeated
Parameter it is more, corresponding message word number is also more.Generally, it is assumed that mission planning result can use NAA message word carrys out table
Show.
Each message word field meanings of table 1 and value range example
(1.3) after, the maximum word length L once transmitted according to link determines the message word number N transmitted every time.Each
The word length of message word is fixed as Lm, then have N=L/Lm(if not integer is then rounded downwards).The message word of N number of simultaneous transmission is referred to as
For superwood, and different types of message word can mix composition superwood.Since mission planning result shares NAA message word, then need
N=NAMission planning result could be sent to unmanned platform by/N (if not integer then rounds up) secondary transmission.
(1.4) next, unmanned platform executes task according to mission planning result.During execution task, due to each
Kind of the reason earth station that (such as finds new target, encounter new threat, is artificial to adjust task dispatching etc.) needs to carry out weight-normality to task
It draws, and unmanned platform is allowed to execute new mission planning result.The result drawn by the division of message word in (1.1), task weight-normality
The main way point information for influencing monomer behavior description and load control information.Pass through " the behaviour in the extension word of way point information
Make symbol mark " field (length is 2 bits, can indicate four kinds of operations: without operation, increasing course line, deletes course line and modifies course line),
The operation such as the increase to mission planning result, deletion and modification may be implemented.Assuming that the way point of initiating task planning is A → B
→ C → D → E, course line number is 1, and the way point serial number of A, B, C, D, E are respectively 1,2,3,4,5.
(1.4.1) modifies a way point, for example, way point B is changed to B'.A way point primary word is first sent,
Then location information comprising way point B sends way point and extends word, it includes course line number and way point serial number and
B is identical, and respectively 1 and 2, and include the location information of B', corresponding operation symbol mark is set to 11 (modification course lines).
(1.4.2) modifies a part of course line, for example, partial route B → C → D is changed to B → K → L → D.First generate one
Way point primary word, it includes the location informations of way point B, then generate four way points and extend word, redistribute course line volume
Number it is 2, redistributes way point serial number 1,2,3,4, and include the location information of way point B, K, L, D, corresponding operation symbol
Mark is set to 11 (modification course lines).
(1.4.3) increases a course line, for example, partial route B → C → D is increased a course line B → K' → L' → D.First
A way point primary word is generated, it includes the location informations of way point B, then generate four way points and extend word, divide again
It is 3 with course line number, redistributes way point serial number 1,2,3,4, and include the location information of way point B, K', L', D, phase
The operator mark answered is set to 01 (increasing course line).
(1.4.4) deletes a course line, for example, partial route C → D → E is deleted.It is basic first to generate a way point
Then word generates three way points and extends words it includes the location information of way point C, it includes course line number and way point
Serial number is identical as C, D, E, and includes the location information of way point C, D, E, and corresponding operation symbol mark is set to 10 (deleting course line).
(1.4.5) generally, either increases, modifies or deletes a course line, wrap in the way point primary word of generation
The way point information contained all must be a way point in original course, if the way point is not the last one air route of original course
Point, then it also must be an air route in original course that the last one way point generated, which extends the way point information for including in word,
Point.
(1.5) finally, the message word of task weight plane-generating is still sent to unmanned platform according to the method for (1.3).
By the message word subdivision to mission planning result, each message word is relatively independent, is conducive to mission planning knot
Fruit such as is increased, deleted and is modified at the operation, meanwhile, this structuring, standardization representation method, mission planning may be implemented
System and unmanned systems execute the decoupling of platform, so that mission planning result has versatility.In addition, for people in loop
Task weight-normality is drawn, and the message word of subdivision can neatly be assembled into the superwood of suitable size, can adapt to the letter of different transmission bandwidths
Cease transmission link.
The present invention is not related to specific mission planning, but program results are distributed to corresponding nothing with the superwood of structuring
People's platform.Below with reference to being described further with Sample Scenario to specific implementation of the patent in Fig. 6:
1. task grouping exports program results, program results include the unmanned Platform Type for executing this subtask, put down
Bench-type number and the load type of required carrying, and mission area and possible target position are described and multiple unmanned platforms are adopted
Formation type, formation parameter and the route information for executing task.In instances, unmanned Platform Type is unmanned plane, platform
Model is encoded to 1, and the load type of carrying is Visible Light Camera, and load model and load parameter are respectively 002 and 3500, task
The type in region is ellipse, and reference point is at (longitude, latitude, height)=(124,24,0), (longitude of long axis and reference point
Difference, difference of latitude, difference in height)=(2.5,3.2,0), (difference of longitude, difference of latitude, the difference in height) of short axle and reference point=(1.2,1,
0), target type is ground target, and possible target position is (longitude, latitude, height)=(125.2,26.1,0), unmanned plane
Using rank formation flight, the spacing between formation member is 200 meters, and planned course has 4 way points, and opens in way point 1
Visible Light Camera closes Visible Light Camera in way point 4.
2. constructing message word.Illustrated according to field meanings in table 1, by the specific value in mission planning result by Fig. 2, figure
The message word format of 3 and Fig. 4 is filled into corresponding field.In instances, platform load description information will form two message
Word is platform information primary word 1 respectively:
01001001000000000000010000000100000000000000000000000000000000000000
00000000 and load information primary word 1:
01001010000000000001000000100000110110101100000000000000000000000000
00000000.Similarly, task object description information is respectively formed mission area information primary word 1, mission area Information expansion
Word 1, target position information primary word 1 and target position information primary word 2, group behavior description information are respectively formed task formation
Alternately primary word 1, monomer behavior description information are respectively formed way point information primary word 1, way point for information primary word 1 and control
Information expansion word 1, way point Information expansion word 2, way point Information expansion word 3, way point Information expansion word 4, load control letter
Cease primary word 1.A total of 14 message words.
3. estimating bandwidth.It can be seen that, mission planning result is first logical from task grouping from the utilization scene of Fig. 6
It crosses wired network and is transmitted to earth station, three unmanned aerial vehicle platforms are then distributed to by wireless network by earth station.Due to wired network and
The transmission bandwidth of wireless network is different, and therefore, the superwood structure constructed in wired network and wireless network is different.In instances, false
512 bit datas, i.e. L can once be transmitted by determining cable networkIt is wired=512, wireless network can once transmit 192 bit datas, i.e.,
LWirelessly=192.The length of each message word is 80 bits, i.e. Lm=80, therefore, cable network can once transmit NIt is wired=512/80
6 message words of ≈, wireless network can once transmit NWirelessly=192/80 message word of ≈ 2.
4. constructing superwood.Mission planning result needs 14 message words in total, then 6 message words are combined into super by cable network
Word is transmitted, and mission planning result is distributed to earth station in three times (superwood of last time transmission only has 2 message words).
And 2 message words are combined into superwood and transmitted by wireless network, and mission planning result is distributed to unmanned aerial vehicle platform in seven times.
Finally it should be noted that above embodiments are only to describe technical solution of the present invention rather than to this technology method
It is limited, the present invention can above extend to other modifications, variation, application and embodiment, and therefore, it is considered that institute in application
There are such modification, variation, application, embodiment all within the scope of spirit or teaching of the invention.
Claims (1)
1. a kind of representation method for the unmanned systems mission planning result for supporting multimode to distribute, it is characterised in that including following steps
It is rapid:
(1) mission planning result is divided into four parts, including platform load description, task object description, group behavior description and
Monomer behavior description；Wherein, platform load description is subdivided into platform information and load information, and task object description is subdivided into task
Area information and target position information, group behavior description are subdivided into task formation information and control rotation information, monomer behavior
Description is subdivided into way point information and load control information；Various information after subdivision have fixed format, will have fixation
The information of format is known as message word；
(2) according to the meaning and corresponding value range of the field set in each message word, by the specific of mission planning result
The corresponding each field for being filled into message word of parameter value, to completely express mission planning result with several message words；
Assuming that mission planning result NAA word length is fixed as LmMessage word indicate；
(3) the maximum word length L once transmitted according to link determines the message word number N=L/L transmitted every timemIf not integer is then
It is rounded downwards；The message word of N number of simultaneous transmission is referred to as superwood, and the mixing of different types of message word constitutes superwood；Due to appointing
Be engaged in the shared N of program resultsAA message word, then need n=NAMission planning result could be sent to unmanned platform by the transmission of/n times；n
If not integer then rounds up；
(4) unmanned platform executes task according to mission planning result；During execution task, if earth station need to task into
Row weight-normality is drawn, and unmanned platform is allowed to execute new mission planning, then passes through the way point information of monomer behavior description in message word
Realize the increase, deletion and modification to mission planning result；Either increase, modify or delete a course line, the boat of generation
The way point information for including in waypoint primary word all must be a way point in original course, if the way point is not original course
The last one way point, then generate the last one way point extension word in include way point information also must be original course
In a way point；
(5) the message word of task weight plane-generating is sent to unmanned platform according to step (3).
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