CN109709980A - A kind of bee colony countercheck based on isomery unmanned plane - Google Patents
A kind of bee colony countercheck based on isomery unmanned plane Download PDFInfo
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Abstract
The present invention devises a kind of bee colony countercheck based on isomery unmanned plane；The system is made of several unmanned planes mutually indepedent, that function is different, and every frame unmanned plane carries relevant module according to the characteristics of task execution.Unmanned plane deployment in system uses the distributed structure/architecture based on isomery unmanned plane, and information unmanned plane coordinates unmanned plane and attack unmanned plane using communication network progress information sharing and interaction, to realize that bee colony is fought.
Description
Technical field
The invention belongs to unmanned planes to cooperate with confrontation field.
Background technique
Bee colony countermeasure system mainly uses isomery multiagent system.A specified intelligent body is for sharing knowledge, other intelligence
Energy body can read information by the intelligent body, can also be sent to it information.A specified intelligent body is used for programmed decision-making, right
Target carries out reasonable distribution, realizes when task conflict from primal coordination.Specify several intelligent bodies for intelligence confrontation.
Isomery multiagent system belongs to a branch of multi-agent system.Research for multi-agent system, is related to
The related disciplines such as mathematics, communication, computer.Multi-agent system is divided into isomorphism multiagent system and isomery multiagent system.Together
If structure multiagent system is made of stem structure, function intelligent body all the same；Isomery multiagent system is had in difference by several
The intelligent body composition of cage structure, different capacity.Isomery multiagent system can not only simplify the function of single intelligent body,
The performance of whole system can be improved.
Cooperation at present is mainly completed by isomorphism multiagent system, also fewer for the research of isomery intelligent body.Especially
It is development of the Multi-Agent Cooperation from isomorphism to isomery in unmanned plane field, proposes new choose to existing coordination model
War.For this challenge, this paper presents a kind of bee colony countermeasure systems based on isomery unmanned plane, send out on specific unmanned plane
Cloth relevant information is allocated and dispatches to goal task using unmanned plane is coordinated, and attack unmanned plane refers to according to corresponding task
Enable the purpose for realizing intelligence strike multiple targets.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention, which provides, solves the confrontation of multiple no-manned plane bee colony
Technical solution: to achieve the above object, a kind of bee colony countercheck based on isomery unmanned plane of the invention, isomery
Unmanned aerial vehicle group includes attack unmanned plane, information unmanned plane and coordinates unmanned plane；In the stage of meeting, attack unmanned plane composition fight
Group attacks come the enemy plane attacked, information unmanned plane and coordinates unmanned plane and looks for an opportunity to high-altitude flight, is the scouting in tangled warfare stage
Detection is ready；
In the tangled warfare stage, in the tangled warfare stage, the course of work of unmanned plane includes the following steps:
Step 1, information unmanned plane are monitored and model to threatening environment, detect position and the shape of friendly machine and enemy plane
State information marks off the irregular polygon region centered on each enemy plane according to the distribution situation of enemy plane in real time, will be adjacent
Enemy plane be connected two-by-two, draw the perpendicular bisector of their lines, perpendicular bisector connected, constitute several polygons
Region, each polygonal region is interior to have an enemy plane, then the release tasks in the form of broadcast；The starting timing of information unmanned plane
Renewal time Δ t is arranged in device1, start timing；
Step 2, after coordinating the task that unmanned plane receives the publication of information unmanned plane, decomposing system task calculates flight generation
Valence attacks unmanned plane for every frame and distributes target, and task is sent to corresponding attack unmanned plane；
Step 3, after attack unmanned plane receives the coordinating unmanned plane distribution of the task, according to the mesh for coordinating unmanned plane offer
Information is marked, and marks off in step 1 and enemy plane target is positioned in real time in each polygonal region come, starts to track；Together
Attack time Δ t is arranged in Shi Qidong timer2, start timing；
Step 4, if attack unmanned plane finds target accurately, Acceleration of starting module, starting attack when distance objective a certain range
Module expels target by ejector object；
Step 5, if attack unmanned plane is in time Δ t2It does not pursue and attack target inside, then sends request to coordination unmanned plane and appoint
The signal of business collaboration, the mission bit stream for needing to cooperate with and itself available information；
Step 6 arranges task to be synergistic after coordination unmanned plane receives the signal that attack unmanned plane is sent and information
Table and can shared information be put into queue to be coordinated, solve optimal solution using task cooperation algorithm, update task list, be sent to
Corresponding attack unmanned plane；
Step 7, in time Δ t1Afterwards, it if information unmanned plane detects the enemy plane in environment and all beaten back, fights
Terminate；Otherwise step 1 is turned to.
Further, the information unmanned plane is made of global detecting module, communication module and control module；Overall situation detection
Embedded with the airborne sensor that can detect battlefield surroundings, enemy plane overview, friendly machine state in module；Communication module and coordinate unmanned plane and
UAV Communication is attacked, the form that the information collected is broadcasted is sent to global work area；The control module includes supplying
Electric installation, timer, controller；Power supply unit is responsible for unmanned plane and provides electric power；Timer setting renewal time Δ t1, battle
Region is striven to relocate and divide；The function that controller is used to control other modules is realized.
Further, the coordination unmanned plane is made of partial detection module, communication module, control module；Coordinate nobody
Machine is responsible for the planning and coordination of task, realizes its function using the communication technology；The partial detection module detects neighbouring unmanned plane
Position, prevent from accidentally hitting；Communication module is mainly used for and information unmanned plane, attack UAV Communication, acquisition real-time situation information
And execution status of task, task list is provided；Control module is responsible for decomposing global task, planning tasks list.
Further, the attack unmanned plane is by partial detection module, communication module, attack module, accelerating module and control
Molding block composition；Partial detection module carries sensor, can lock and track the target distributed by coordination unmanned plane；Communication module
It is responsible for information unmanned plane and coordination unmanned plane real time communication, the reading relevant information from information unmanned plane, from coordination unmanned plane
The signal that place obtains assignment instructions, sends task cooperation；When attacking unmanned plane lock onto target, it is dynamic that accelerating module provides flight
Power makes what it quickly entered target can attack module using injecting type device to beat back target in firing area；Control module is negative
Duty is adjusted and controls to other modules, wherein also include timer, the timing since getting after task, if in attack time
Δt2Inside non-success attack target, then to the signal for coordinating unmanned plane transmission requesting cooperative.
Attacking has injecting type device in the attack module of unmanned plane, have pressure apparatus in machine, connect with the nozzle of fuselage,
Ejecta is attached in target by nozzle using pressure, to reach the performance for weakening UAV targets, allows it cannot be just
Task is often executed, the spray regime of the attack unmanned plane is one using the attack unmanned plane as vertex, central angle α, radius
For the fan-shaped region of R；Unmanned plane is launched a offensive when with target being in the linear distance of R.
Further, it in face of the enemy plane group to swarm forward, attacks unmanned plane and keeps battle group's formation, resist invading for enemy army
Slightly；Information unmanned plane and coordination unmanned plane fly to wait for an opportunity in the case where guaranteeing inherently safe to upper airspace at the rear of troop
Flight is scouted war environment for the tangled warfare stage and is ready；
In the stage of meeting, attack unmanned plane is detected using war environment of the partial detection module to heading, is visited
Survey the spray regime that range is the attack unmanned plane；If detecting enemy plane in this range, start injecting type device immediately,
Target is attacked.If not detecting enemy plane, continue to fly according to former direction；
When information unmanned plane and coordinate unmanned plane during flying to upper airspace, the friendly machine and enemy plane in front have entered tangled warfare rank
Section, information unmanned plane utilize its advantage geographical location, entire battlefield surroundings are detected and modeled, and are drawn according to the position of enemy plane
Subregion, and battle field information is sent to coordination unmanned plane；Coordinate unmanned plane and utilize task distribution principle and task coordinate principle,
The task that the target or needs attacked for friendly machine distribution needs cooperate with, and task assignment list is sent to attack unmanned plane.
After attack unmanned plane gets task, target is found and tracked to starting partial detection module, carries out in appropriately distance to target
Attack.
The utility model has the advantages that of the invention be made of several unmanned planes mutually indepedent, that function is different, every frame unmanned plane according to times
The characteristics of business executes carries relevant module；Unmanned plane deployment in system uses the distributed structure/architecture based on isomery unmanned plane,
Information unmanned plane coordinates unmanned plane and attack unmanned plane using communication network progress information sharing and interaction, to realize bee colony
Confrontation.
Detailed description of the invention
Attached drawing 1 is that bee colony fights schematic diagram；
Attached drawing 2 is the modularized design schematic diagram of isomery unmanned plane；
Attached drawing 3 is the construction for attacking the injecting type device of unmanned plane；
Attached drawing 4 is the firing area of injecting type unmanned plane；
Attached drawing 5 is the schematic layout pattern in meet stage；
Attached drawing 6 is that Wei Nuotufa constructs map schematic diagram；
Attached drawing 7 is the schematic diagram of task distribution；
Attached drawing 8 is the information exchange figure of unmanned plane；
The communication process of 9 isomery unmanned plane of attached drawing；
The process chart of 10 tangled warfare stage of attached drawing unmanned plane.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
As shown in attached drawing 1 to 10, the present invention devises a kind of bee colony countermeasure system based on isomery unmanned plane.The system by
Information unmanned plane coordinates three kinds of unmanned plane compositions of unmanned plane and attack unmanned plane, carries out modularized design, root to each unmanned plane
The characteristics of executing task according to it carries corresponding module.
The present invention solves the problems, such as that multiple no-manned plane bee colony is fought.Information unmanned plane according to the enemy plane position in war environment,
Region division is carried out, collect and issues the status information of friendly machine and enemy plane in global work area.Coordinate unmanned plane and reads correlation
After information, according to task distribution principle, to attack the corresponding enemy plane of unmanned plane reasonable distribution.Attack unmanned plane is arranged according to task
Table starts target homing and tracing mode, sprays in a certain range target, beat back target.If attack unmanned plane without
Method completes task, then to unmanned plane transmission request is coordinated, by coordination unmanned plane according to the task cooperation principle again object of planning, in fact
Existing multi-machine collaborative target of attack.
The system model and working principle of this programme
1. the composition of isomery unmanned aerial vehicle group
Isomery unmanned aerial vehicle group is different by construction, function is different and mutually independent unmanned plane forms, using fixed-wing nobody
The large sizes such as machine, multi-rotor unmanned aerial vehicle, small-sized, miniature a plurality of types of unmanned planes, according to its sShape features, payload, continuation of the journey
The performances such as ability undertake information unmanned plane respectively, coordinate unmanned plane and attack the function of unmanned plane.Using isomery unmanned aerial vehicle group,
It can simplify the internal structure of single rack unmanned plane, specific function can be exercised；Group of planes function can be enriched, systematicness is improved
Can, so that simplified system, reduces cost, improve the service efficiency of unmanned plane.
The aerial battlefield of bee colony confrontation is divided into headquarter and front according to functional characteristics.Headquarter include information unmanned plane
With coordination unmanned plane, it is responsible for real time monitoring battlefield surroundings, analyzes deterrent and simultaneously distribute target to attack unmanned plane；Front includes
Several attack unmanned planes, facedown enemy plane threaten.The principle of battlefield deployment is to guarantee information unmanned plane and association to the utmost
The safety for adjusting unmanned plane makes its flight in the region not threatened by enemy plane；Information unmanned plane and coordination unmanned plane should be disposed simultaneously
Near war environment, the global visual field is established, keeps good communication with attack unmanned plane.Under normal circumstances, the nothing of headquarter
It is man-machine to fly in the upper airspace of menace of wars environment, not only guaranteed its safety, but also the real-time of war can be obtained in all directions
Information, realization are made decisions on one's own.As shown in Figure 1.
Information unmanned plane.War environment is monitored in real time, constructs area map using navigation system, collect friendly machine and
The information such as position, the state of enemy plane carry out information fusion, and notice coordinates unmanned plane and attack unmanned plane reads information, certain
Information data is constantly updated in period.Information unmanned plane has the characteristics that long endurance, highly-safe, stability is good, is able to carry out
The function of scouting detection for a long time, can use fixed-wing unmanned plane.
Coordinate unmanned plane.The task of information unmanned plane publication is decomposed, is appointed by calculating flight cost reasonable distribution
Business sends assignment instructions to attack unmanned plane.It is again unmanned plane point according to task cooperation principle when task clashes
With task.Coordinate unmanned plane strong environmental adaptability, can hover in the sky, there is the sufficient time to be allocated and assist task
Together, multi-rotor unmanned aerial vehicle can be used.
Attack unmanned plane.After receiving the assignment instructions for coordinating unmanned plane, target is found and tracked, is locked in a certain range
It sets the goal, and target is sprayed, can dramatically avoid the injures and deaths of unmanned plane, achieve the effect that threaten fright.It attacks
Hit unmanned plane small volume, structure be simple, reaction flexibly, be adapted to war environment complicated and changeable, can using quadrotor without
Man-machine, eight rotor wing unmanned aerial vehicles or small-sized fixed-wing unmanned plane.
2. the modularized design of unmanned plane
Modularized design is used to the hardware components of unmanned plane, its internal structure is can simplify, enhances the reliability of work.
Since hardware design is closely coupled with software function, unmanned plane executes different functions according to task feature, the module carried
Also not identical, as shown in Figure 2.
Information unmanned plane is made of global detecting module, communication module and control module.Machine is embedded in global detecting module
Set sensor, for detecting the information such as battlefield surroundings, enemy plane overview, friendly machine state.Communication module be responsible for coordinate unmanned plane and
UAV Communication is attacked, the form that the information collected is broadcasted is sent to global work area.Control module includes for Denso
It sets, timer, controller.Power supply unit is responsible for unmanned plane and provides electric power；Timer setting renewal time Δ t1, to war area
Domain relocates and divides；The function that controller is used to control other modules is realized.
Coordinate unmanned plane to be made of partial detection module, communication module, control module.Coordinate unmanned plane and is mainly responsible for task
Planning and coordination, realize its function using the communication technology, do not need perception battlefield surroundings and target of attack.Partial detection module
The main position for detecting neighbouring unmanned plane, prevents from accidentally hitting.Communication module is mainly used for logical with information unmanned plane, attack unmanned plane
Letter obtains real-time situation information and execution status of task, provides task list.Control module is responsible for decomposing global task, planning
Task list.
Attack unmanned plane is made of partial detection module, communication module, attack module, accelerating module and control module.Office
Portion's detecting module carry sensor, only need to lock and track the target distributed by coordination unmanned plane, do not need to all enemy planes into
Row detection.Communication module is responsible for information unmanned plane and coordination unmanned plane real time communication, the related letter of reading from information unmanned plane
Breath, from the signal for coordinating to obtain assignment instructions from unmanned plane, send task cooperation.When attacking unmanned plane lock onto target, accelerate
Module provides flying power, makes what it quickly entered target can attack module using injecting type device to beat back in firing area
Target.Control module is responsible for that other modules are adjusted and are controlled, wherein also include timer, it is fixed since getting after task
When, if in attack time Δ t2Inside non-success attack target, then to the signal for coordinating unmanned plane transmission requesting cooperative.
3. attacking the injecting type device of unmanned plane
The Adversary Structures and mode of injecting type device.Injecting type device is located at the attack module of attack unmanned plane, has in machine
Pressure apparatus is connect with the nozzle of fuselage, and the strong gas etc. of the high liquid of the usable degree of adhesion of ejecta, corrosivity is stored
In specific vessel.Injection attack can be carried out to target in a certain range, be adhered to ejecta by nozzle using pressure
Onto target, target is caused to damage, to reach the performance for weakening UAV targets, allows it that cannot normally execute task.Spray
The simple structure for penetrating formula device is as shown in Figure 3.
The injecting type unmanned plane that this system uses, spray regime are one using the unmanned plane as vertex, central angle α, half
Diameter is the fan-shaped region of R.Unmanned plane is launched a offensive when with target being in the linear distance of R, it is not necessary to flight to target position, in order to avoid
Cause unnecessary damage.The firing area of unmanned plane is as shown in Figure 4.
4. the working principle of unmanned plane
In bee colony confrontation two stages of experience, be meet stage and tangled warfare stage respectively.The meet stage refers to friendly machine and enemy plane
It meets for the first time, friendly machine only needs to attack the enemy plane for entering its firing area, does not need the dynamic decision of headquarter.Tangled warfare
Stage refers to that friendly machine is mixed with enemy plane, is flexibly changed by the information interchange in front and headquarter by monitoring battlefield surroundings in real time
Become Task Assigned Policy.
4.1 meet the stage
In face of the enemy plane group to swarm forward, attacks unmanned plane and keep battle group's formation, resist the invasion of enemy army；Information nobody
Machine and coordination unmanned plane fly to wait for an opportunity to fly to upper airspace in the case where guaranteeing inherently safe at the rear of troop, are tangled warfare
Stage scouts war environment and is ready.The battlefield layout in meet stage is as shown in Figure 5.
In the stage of meeting, attack unmanned plane is detected using war environment of the partial detection module to heading, is visited
Survey the spray regime that range is the unmanned plane.If detecting enemy plane in this range, start injecting type device immediately, to mesh
Mark is attacked.If not detecting enemy plane, continue to fly according to former direction.
4.2 tangled warfare stages
When information unmanned plane and coordinate unmanned plane during flying to upper airspace, the friendly machine and enemy plane in front have entered tangled warfare rank
Section, as shown in Figure 1.Information unmanned plane utilizes its advantage geographical location, and entire battlefield surroundings are detected and modeled, according to enemy
The position of machine divides region, and battle field information is sent to coordination unmanned plane.Coordinate unmanned plane using task distribution principle and appoints
Business coordination principle, the task that the target or needs attacked for friendly machine distribution needs cooperate with, and task assignment list is sent to
Attack unmanned plane.After attack unmanned plane gets task, target is found and tracked to starting partial detection module, in appropriately distance
Target is attacked.
(1) building map and division region
Assuming that unmanned plane height and speed in flight course are held essentially constant, solid space can be reduced to two dimension
Plane, the calculating to unmanned plane during flying cost are also to carry out in a two-dimensional plane.This system to war environment locating for enemy plane into
Row simulation and building, by continuous threatening environment discretization.Classifying rationally is carried out to region using suitable method, makes each enemy
Function is evenly distributed on each region.
In view of the transducer sensitivity, flying speed and battlefield surroundings of unmanned plane threaten the factors such as distribution, to be directed to
The selection battlefield space-division method of property, common are Grid Method and Wei Nuotufa.It, can with Wei Nuotu structured approach to environmental modeling
According to the distribution situation of enemy plane, to mark off the irregular polygon region centered on each enemy plane.Concrete operations are: by phase
Adjacent enemy plane is connected two-by-two, draws the perpendicular bisector of their lines, perpendicular bisector is connected, it is polygon to constitute several
Shape region.Process with Wei Nuotufa building map is as shown in Figure 6.
6. the course of work of unmanned plane
In the stage of meeting, attack unmanned plane forms battle group, attacks come the enemy plane attacked, information unmanned plane and coordination
Unmanned plane looks for an opportunity to be ready to high-altitude flight for the scouting detection in tangled warfare stage.
It is as shown in Figure 10 in the course of work in tangled warfare stage, isomery unmanned plane, it illustrates below.
(1) information unmanned plane is monitored and models to threatening environment, detects position and the state letter of friendly machine and enemy plane
Breath, according to the distribution situation of enemy plane, marks off the irregular polygon region centered on each enemy plane, by adjacent enemy plane two
Two are connected, and draw the perpendicular bisector of their lines, perpendicular bisector is connected, constitute several polygonal regions, use
Wei Nuotufa constructs map, has an enemy plane, the release tasks in the form of broadcast in each polygonal region.Information unmanned plane
Start timer, renewal time Δ t is set1, start timing.
(2) after coordinating the task that unmanned plane receives the publication of information unmanned plane, decomposing system task calculates flight cost,
Unmanned plane is attacked for every frame and distributes target, and task is sent to corresponding attack unmanned plane.
(3) after attack unmanned plane receives the coordinating unmanned plane distribution of the task, believe according to the target that unmanned plane provides is coordinated
Breath, and mark off in step 1 and enemy plane target is positioned in real time in each polygonal region come, start to track；It opens simultaneously
Dynamic timer, is arranged attack time Δ t2, start timing.
(4) if attack unmanned plane finds target accurately, Acceleration of starting module, starting attack mould when distance objective a certain range
Block expels target by ejector object.
(5) if attack unmanned plane is in time Δ t2It does not pursue and attack target inside, then sends request task association to coordination unmanned plane
Signal together, the mission bit stream for needing to cooperate with and itself available information.
(6) coordinate after unmanned plane receives the signal sent of attack unmanned plane and information, by task list to be synergistic and
Can shared information be put into queue to be coordinated, solve optimal solution using task cooperation algorithm, update task list, be sent to correspondence
Attack unmanned plane.
(7) in time Δ t1Afterwards, if information unmanned plane detects the enemy plane in environment and all beaten back, to resistive connection
Beam；Otherwise (1) is turned to.
Since a kind of designed bee colony countermeasure system based on isomery unmanned plane has platform-neutral, we can be selected
Use any platform as the implementation of this system.In the actual operation process, the formation control of isomery unmanned plane,
The accessory of unmanned plane modules selects, algorithm is write and code migrating is theoretical conversion for actual committed step, in this way
It could realize that bee colony is fought on true battlefield surroundings.Mould is carried out using the unmanned plane that 100 framves fly at a constant speed between ourselves and the enemy
Quasi-, we selects an appropriate number of unmanned plane respectively as information unmanned plane and coordinates unmanned plane, if remaining quarrel unmanned plane work
Fight is participated in for attack unmanned plane.Using the survival quantity of machine friendly after confrontation and enemy plane as the evaluation index of this system.
1. formation control
Isomery UAV system realizes distributed formation, the function of each unmanned plane can be made to simplify, cost reduces.Specifically
Method is available with the relative position vector construction controller of neighbours' intelligent body, turns to consistency problem by linear transformation.
Unmanned plane can choose different formations under the principle without prejudice to formation control, and polygon formation can be used for example, according to
Group of planes quantity adjusts its number of edges.
2. hardware design
The function of being realized according to unmanned plane is different, selects different module fittings.The global detecting module of information unmanned plane
Mainly global threatening environment is monitored, suitable navigation system should be selected.The partial detection module of attack unmanned plane only needs
Its target is monitored, the simple sensors such as photoelectric sensor are selected.The attack module of attack unmanned plane can choose independently
Formula injection apparatus.The accelerating module of attack unmanned plane can choose the devices such as driving motor.
Communication module can be communicated using Ad Hoc network.Control module select embedded controller, power supply unit,
Timer etc..
3. algorithm routine designs
It designs corresponding algorithm and realizes bee colony confrontation.It needs the renewal time to information unmanned plane, attack attacking for unmanned plane
It hits range and attack time is defined.Distribution of going out on missions, the algorithm of task cooperation are designed according to actual needs.This system is quasi- to adopt
It is verified with the method that theory analysis, emulation experiment and field test combine.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of bee colony countercheck based on isomery unmanned plane, it is characterised in that: isomery unmanned aerial vehicle group include attack unmanned plane,
Information unmanned plane and coordination unmanned plane；In the stage of meeting, attack unmanned plane forms battle group, attacks come the enemy plane attacked,
Information unmanned plane and coordination unmanned plane look for an opportunity to be ready to high-altitude flight for the scouting detection in tangled warfare stage；
In the tangled warfare stage, in the tangled warfare stage, the course of work of unmanned plane includes the following steps:
Step 1, information unmanned plane are monitored and model to threatening environment, detect position and the state letter of friendly machine and enemy plane
Breath, according to the distribution situation of enemy plane, marks off the irregular polygon region centered on each enemy plane, by adjacent enemy in real time
Machine is connected two-by-two, draws the perpendicular bisector of their lines, perpendicular bisector is connected, and constitutes several polygon areas
Domain, each polygonal region is interior to have an enemy plane, then the release tasks in the form of broadcast；The starting timing of information unmanned plane
Renewal time Δ t is arranged in device1, start timing；
Step 2, after coordinating the task that unmanned plane receives the publication of information unmanned plane, decomposing system task calculates flight cost,
Unmanned plane is attacked for every frame and distributes target, and task is sent to corresponding attack unmanned plane；
Step 3 after attack unmanned plane receives the coordinating unmanned plane distribution of the task, is believed according to the target that unmanned plane provides is coordinated
Breath, and mark off in step 1 and enemy plane target is positioned in real time in each polygonal region come, start to track；It opens simultaneously
Dynamic timer, is arranged attack time Δ t2, start timing；
Step 4, if attack unmanned plane finds target accurately, Acceleration of starting module, starting attack mould when distance objective a certain range
Block expels target by ejector object；
Step 5, if attack unmanned plane is in time Δ t2It does not pursue and attack target inside, then sends request task collaboration to coordination unmanned plane
Signal, need the mission bit stream that cooperates with and itself available information；
Step 6 is coordinated after unmanned plane receives the signal sent of attack unmanned plane and information, by task list to be synergistic and
Can shared information be put into queue to be coordinated, solve optimal solution using task cooperation algorithm, update task list, be sent to correspondence
Attack unmanned plane；
Step 7, in time Δ t1Afterwards, if information unmanned plane detects the enemy plane in environment and all beaten back, confrontation terminates；
Otherwise step 1 is turned to.
2. a kind of bee colony countercheck based on isomery unmanned plane according to claim 1, it is characterised in that: the information
Unmanned plane is made of global detecting module, communication module and control module；In global detecting module embedded with can detect battlefield surroundings,
The airborne sensor of enemy plane overview, friendly machine state；Communication module and coordination unmanned plane and attack UAV Communication, by what is collected
Information is sent to global work area in the form broadcasted；The control module includes power supply unit, timer, controller；Power supply
Device is responsible for unmanned plane and provides electric power；Timer setting renewal time Δ t1, war region is relocated and is divided；Control
The function that device is used to control other modules is realized.
3. a kind of bee colony countercheck based on isomery unmanned plane according to claim 1, it is characterised in that: the coordination
Unmanned plane is made of partial detection module, communication module, control module；Coordinate planning and coordination that unmanned plane is responsible for task, benefit
Its function is realized with the communication technology；The partial detection module detects the position of neighbouring unmanned plane, prevents from accidentally hitting；Communication module master
Be used for information unmanned plane, attack UAV Communication, obtain real-time situation information and execution status of task, task column be provided
Table；Control module is responsible for decomposing global task, planning tasks list.
4. a kind of bee colony countercheck based on isomery unmanned plane according to claim 1, it is characterised in that: the attack
Unmanned plane is made of partial detection module, communication module, attack module, accelerating module and control module；Partial detection module is taken
Set sensor can lock and track the target distributed by coordination unmanned plane；Communication module is responsible for and information unmanned plane and coordination nothing
Man-machine real time communication reads relevant information from information unmanned plane, and assignment instructions are obtained from coordination unmanned plane, send task association
Same signal；When attacking unmanned plane lock onto target, accelerating module provides flying power, it is made to quickly enter attacking for target
In range, module is attacked using injecting type device to beat back target；Control module is responsible for that other modules are adjusted and are controlled,
It wherein also include timer, the timing since getting after task, if in attack time Δ t2Inside non-success attack target, then to association
Unmanned plane is adjusted to send the signal of requesting cooperative；
Attacking has injecting type device in the attack module of unmanned plane, have pressure apparatus in machine, connect with the nozzle of fuselage, utilizes
Ejecta is attached in target by pressure by nozzle, to reach the performance for weakening UAV targets, it cannot normally be held
Row task, it using the attack unmanned plane is vertex, central angle α, radius for R's that the spray regime of the attack unmanned plane, which is one,
Fan-shaped region；Unmanned plane is launched a offensive when with target being in the linear distance of R.
5. a kind of bee colony countercheck based on isomery unmanned plane according to claim 1, it is characterised in that:
In face of the enemy plane group to swarm forward, attacks unmanned plane and keep battle group's formation, resist the invasion of enemy army；Information unmanned plane and
Coordinate unmanned plane to fly to wait for an opportunity to fly to upper airspace in the case where guaranteeing inherently safe at the rear of troop, is the tangled warfare stage
War environment is scouted to be ready；
In the stage of meeting, attack unmanned plane is detected using war environment of the partial detection module to heading, detects model
Enclose the spray regime as the attack unmanned plane；If detecting enemy plane in this range, start injecting type device immediately, to mesh
Mark is attacked.If not detecting enemy plane, continue to fly according to former direction；
When information unmanned plane and coordinate unmanned plane during flying to upper airspace, the friendly machine and enemy plane in front have entered the tangled warfare stage, letter
It ceases unmanned plane and utilizes its advantage geographical location, entire battlefield surroundings are detected and modeled, according to the position dividing regions of enemy plane
Domain, and battle field information is sent to coordination unmanned plane；Coordinate unmanned plane and utilize task distribution principle and task coordinate principle, for friend
The task that machine distribution needs the target attacked or needs to cooperate with, and task assignment list is sent to attack unmanned plane.Attack
After unmanned plane gets task, target is found and tracked to starting partial detection module, attacks in appropriately distance target.
Priority Applications (1)
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