CN109814595A - Fiery synchronisation control means is believed in helicopter based on multi-Agent-unmanned plane collaboration strike - Google Patents
Fiery synchronisation control means is believed in helicopter based on multi-Agent-unmanned plane collaboration strike Download PDFInfo
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Abstract
The present invention relates to a kind of, and fiery synchronisation control means is believed in the helicopter based on multi-Agent-unmanned plane collaboration strike, constructs 5 independent Agent, is positioning-speed-measuring Agent, trajectory planning Agent, flight tracking control Agent respectively, and attack resolves Agent, irradiates synchronous Agent；Realize that unmanned plane and armed helicopter carry out cooperateing with the letter fire synchronously control during strike, to realize that concerted attack is not necessarily to coordinate the high efficiency collaboration strike process of password in the process, hit probability is improved, and reduces helicopter pilot and the operation requirement and pressure of unmanned plane operator.
Description
Technical field
The present invention relates to UAV system fields, more specifically, refer to that a kind of unmanned plane cooperates with strike to believe with helicopter
Fiery synchronisation control means.
Background technique
Helicopter can implement on a surface target precision strike using self-contained laser-guided bomb, the precision strike
Strike and irradiation in journey, which guide, whole to be completed by a frame helicopter, and other helicopter or unmanned plane conduct can also be passed through
Irradiating machine collaboration is completed.Letter fire synchronizes the synchronously control of target information and Strike during referring to collaboration strike, straight
The machine of liter is cooperateed with unmanned plane in strike, believes that fiery synchronously control is to realize cooperation flow, improve an important factor for hit probability.
The system that Agent technology may make oriented mission to handle in artificial intelligence has perception situation, interpreted environment and does
The ability reacted out.Agent is the entity with higher capacity of self-government for running on dynamic environment, which, which can be, is
System, machine or software program.In general, Agent is provided to some specific purpose and designs, more complicated in order to complete
Task, it is necessary to different number and the Agent of ability join together to cooperate.
During helicopter cooperates with unmanned plane strike, be related to helicopter transmitting battle station, launching condition, nobody
A series of problems, such as machine laser-irradiated domain, target positioning-speed-measuring, irradiation starting opportunity, collaboration processing between these problems and
High-speed decision response is the key that fiery synchronously control is believed in collaboration strike, and the different function building completed as needed is multiple and different
The Agent of ability, and these Agent are joined together to carry out decision and control, it is to realize the effective means for believing fiery synchronously control.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of helicopter based on multi-Agent-unmanned plane association
The method that fiery synchronously control is believed in same strike is realized that the letter fire during unmanned plane carries out collaboration strike with armed helicopter is synchronous and is controlled
System improves hit probability, and reduce to be not necessarily to coordinate the high efficiency collaboration strike process of password during realizing concerted attack
The operation requirement and pressure of helicopter pilot and unmanned plane operator.
Technical solution
A kind of helicopter based on multi-Agent-fiery synchronisation control means of unmanned plane collaboration strike letter, it is characterised in that step
It is as follows:
Step 1: collaboration processing and alert response needed for believing fiery synchronously control in strike are cooperateed with according to helicopter with unmanned plane
The problem of, construct correlation Agent, including positioning-speed-measuring Agent, trajectory planning Agent, flight tracking control Agent, attack resolving
Agent Agent synchronous with irradiation:
The positioning-speed-measuring Agent receives externally measured data, and carries out positioning and speed to target according to constraint condition
Resolution of a vector is spent, target positioning result and target velocity size and direction are exported.
The trajectory planning Agent receives externally measured data and other Agent output datas, is advised according to constraint condition
Unmanned plane during flying course line is drawn, the course line planned and planning update message are exported.
The flight tracking control Agent receives externally measured data and other Agent output datas, raw according to constraint condition
At control instruction, control amount is exported.
The attack resolves Agent and receives externally measured data and other Agent output datas, according to constraint condition and
Decision rule generates Agent control command, controls the behavior of other Agent.
The synchronous Agent of the irradiation receives externally measured data and other Agent output datas, raw according to constraint condition
It is instructed at platform courses, output order stream；
Step 2: output target position, target velocity and target velocity direction being calculated by positioning-speed-measuring Agent, sent to attack
Agent is resolved, Agent is resolved by attack and whether needs to re-start mission planning according to attack constraint condition decision, if desired,
3 are thened follow the steps, if not needing, goes to step 6；
Step 3: after trajectory planning Agent receives planning instruction again, receiving the information of positioning-speed-measuring Agent output and outer
Portion's measurement data is planned unmanned plane during flying course line according to plan constraint condition again and is exported to flight tracking control Agent；
Step 4: after flight tracking control Agent receives the line of flight of update, being controlled according to externally measured data according to flight
Rule generates control instruction, and send to unmanned plane executing agency and executed；
Step 5: after attack resolving Agent receives planning update message, under preset adjustment duration limitation, according to outside
Measurement data and the line of flight of update judge whether unmanned plane posture adjustment is completed, and posture adjustment is completed or reached after adjustment duration limits
It is transferred to step 2, unmanned plane is otherwise waited for and carries out posture adjustment and continuously carry out this step；
Step 6: attack resolves Agent output Prerequisite and meets message, wait pilot carry out manual decision whether into
Row attack, if receiving the attack confirmation of pilot, output allows to irradiate message, is transferred to step 7, otherwise goes to step 2；
Step 7: the synchronous Agent of irradiation is received after allowing to irradiate message, is constrained according to externally measured data and irradiation starting
Condition generates laser irradiation device control instruction, to complete helicopter-unmanned plane collaboration strike letter fire synchronously control.
The positioning-speed-measuring Agent includes sensing module, positioning-speed-measuring module, resolves constraint knowledge library and communication mould
Block；Wherein sensing module receives pitch angle, roll angle, course angle, longitude and latitude and the work shape for scouting irradiation apparatus of unmanned plane
State, laser state, laser ranging value are simultaneously output to positioning-speed-measuring module；Positioning-speed-measuring module is resolving constraint knowledge library
Target position resolving, target velocity estimation, target velocity direction estimation are carried out under restrictive condition；Communication module is by positioning-speed-measuring mould
The calculation result of block is to attack resolves Agent, trajectory planning Agent is distributed；Resolving constraint knowledge library includes laser ranging
It is worth validity, unmanned plane position validity, target velocity threshold value, filtering parameter.
The trajectory planning Agent includes sensing module, event checking module, planning module, plan constraint knowledge base
And communication module；Sensing module receives unmanned plane longitude and latitude, true air speed, course angle, helicopter longitude and latitude, course angle, attacker
To；Event checking module carries out judgement decision to the data of sensing module and communication module transmitting, decides whether carry out task rule
It draws；Planning module carries out unmanned aerial vehicle flight path planning when needing to be planned again according to plan constraint knowledge base；Communication module
It receives attack to resolve the weight-normality stroke instruction message of Agent and pass it to event checking module, receives planning module output
Route information is simultaneously sent to attack resolving Agent and flight tracking control Agent；The plan constraint knowledge base includes that irradiation is effective
Section model, UAV Maneuver constraint.
The flight tracking control Agent includes sensing module, control law, posture restraint knowledge base, action module and communication
Module；Sensing module receives unmanned plane longitude and latitude, air speed and course angle；Communication module receives the boat that trajectory planning Agent is sent
Line information is simultaneously sent to control law；Control law generates control amount under the restrictive condition of posture restraint knowledge base；Action module connects
It receives control amount and unmanned plane is driven to correspond to rudder face and carry out pose adjustment, realize flight tracking control；The posture restraint knowledge base packet
Include target following angular speed constraint, unmanned plane turning posture restraint.
It includes sensing module, event checking module, decision-making module, decision rule knowledge base that the attack, which resolves Agent,
And communication module；Sensing module receives unmanned plane longitude and latitude, helicopter longitude and latitude, course angle and attack heading；Event detection mould
Block carries out judgement decision to the data of sensing module and communication module transmitting, determines the branch in starting decision-making module；Decision model
Block integrate external data, according to decision rule knowledge base to whether carry out weight-normality draw, whether allow irradiate, if appropriate for attack into
Row decision；Communication module is responsible for Agent synchronous with positioning-speed-measuring Agent, trajectory planning Agent and irradiation and carries out data exchange；
The decision rule knowledge base mainly includes attacking effective section model, Track In Track to bit model.
The synchronous Agent of the irradiation includes sensing module, irradiation decision, laser constraint knowledge library, action module and leads to
Believe module；Sensing module receives Helicopter Attacking plan and delay irradiation time；Communication module receives attack and resolves Agent output
Allow irradiate instruct；Decision is irradiated according to the data of sensing module and communication module, is generated and is swashed according to laser constraint knowledge library
Photocontrol instruction stream；The laser that action module is controlled according to instruction stream on time on unmanned plane works；The laser is about
Beam knowledge base includes laser command sequence, operating time threshold value.
Beneficial effect
Fiery synchronisation control means, tool are believed in a kind of helicopter based on multi-Agent proposed by the present invention-unmanned plane collaboration strike
There are following 3 advantages:
1, multi-Agent technology is used to solve the problems, such as that fiery synchronously control to be believed in collaboration strike, it can be in time to extraneous environmental change
Take response, from main modulation unmanned plane and the problem of helicopter coordinated, and can assist unmanned plane operator into
Row judgement and decision realize that helicopter pilot only needs whether decision is implemented to attack, without coordinating the efficient collaboration of password；
2, this method has very strong scalability and flexibility, can be needed to increase independent Agent or tune according to function
The quantity of whole each independent Agent, to realize the purpose of multiple UAVs Yu the cooperation of multi rack helicopter；
3, the implementation process that this method makes helicopter cooperate with strike with unmanned plane is intelligent, and completion that can be more scientific is assisted
Same process, to improve the probability of missile-target impact.
Detailed description of the invention
Fig. 1 positioning-speed-measuring Agent structural schematic diagram
Fig. 2 trajectory planning Agent structural schematic diagram
Fig. 3 flight tracking control Agent structural schematic diagram
Fig. 4 attack resolves Agent structural schematic diagram
Fig. 5 irradiates synchronous Agent structural schematic diagram
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
Method and step involved by the present invention is as follows:
Step 1: collaboration processing and alert response needed for believing fiery synchronously control in strike are cooperateed with according to helicopter with unmanned plane
The problem of, correlation Agent, including positioning-speed-measuring Agent, trajectory planning Agent, flight tracking control Agent are constructed, attack resolves
Agent irradiates synchronous Agent.Wherein:
Positioning-speed-measuring Agent receives externally measured data, and carries out positioning and velocity vector to target according to constraint condition
It resolves, exports target positioning result and target velocity size and direction.
Trajectory planning Agent receives externally measured data and other Agent output datas, plans nobody according to constraint condition
The machine line of flight exports the course line planned and planning update message.
Flight tracking control Agent receives externally measured data and other Agent output datas, is generated and is controlled according to constraint condition
Instruction exports control amount.
Attack resolves Agent and receives externally measured data and other Agent output datas, is advised according to constraint condition and decision
Agent control command is then generated, the behavior of other Agent is controlled.
It irradiates synchronous Agent and receives externally measured data and other Agent output datas, according to constraint condition generating platform
Control instruction, output order stream.
Step 2: output target position, target velocity and target velocity direction being calculated by positioning-speed-measuring Agent, sent to attack
Agent is resolved, Agent is resolved by attack and whether needs to re-start mission planning according to attack constraint condition decision, if desired,
3 are thened follow the steps, if not needing, goes to step 6.
Step 3: after trajectory planning Agent receives planning instruction again, receiving the information of positioning-speed-measuring Agent output and outer
Portion's measurement data is planned unmanned plane during flying course line according to plan constraint condition again and is exported to flight tracking control Agent.
Step 4: after flight tracking control Agent receives the line of flight of update, being controlled according to externally measured data according to flight
Rule generates control instruction, and send to unmanned plane executing agency and executed.
Step 5: after attack resolving Agent receives planning update message, under preset adjustment duration limitation, according to outside
Measurement data and the line of flight of update judge whether unmanned plane posture adjustment is completed, and posture adjustment is completed or reached after adjustment duration limits
It is transferred to step 2, unmanned plane is otherwise waited for and carries out posture adjustment and continuously carry out this step.
Step 6: attack resolves Agent output Prerequisite and meets message, wait pilot carry out manual decision whether into
Row attack, if receiving the attack confirmation of pilot, output allows to irradiate message, is transferred to step 7, otherwise goes to step 2.
Step 7: the synchronous Agent of irradiation is received after allowing to irradiate message, is constrained according to externally measured data and irradiation starting
Condition generates laser irradiation device control instruction, to complete helicopter-unmanned plane collaboration strike letter fire synchronously control.
With reference to the accompanying drawing, it is as follows to provide typical embodiment of the invention:
Step 1: 5 independent Agent of building, are positioning-speed-measuring Agent, trajectory planning Agent, flight tracking control respectively
Agent, attack resolve Agent, irradiate synchronous Agent.Wherein:
Positioning-speed-measuring Agent includes sensing module, positioning-speed-measuring module, settles accounts constraint knowledge library and communication module, such as attached
Shown in Fig. 1.Sensing module receives pitch angle, roll angle, course angle, longitude and latitude and the work shape for scouting irradiation apparatus of unmanned plane
State, laser state, laser ranging value；Positioning-speed-measuring module carries out target position solution under the restrictive condition for resolving constraint knowledge library
It calculates, target velocity estimation, target velocity direction estimation；Calculation result is resolved Agent, trajectory planning to attack by communication module
Agent is distributed；Resolving constraint knowledge library mainly includes laser ranging value validity, unmanned plane position validity, target speed
Spend threshold value, filtering parameter etc..
Trajectory planning Agent includes sensing module, event checking module, planning module, plan constraint knowledge base and communication
Module is shown in attached drawing 2.Sensing module receives unmanned plane longitude and latitude, true air speed, course angle, helicopter longitude and latitude, course angle, attack
Direction；Event checking module carries out judgement decision to the data of sensing module and communication module transmitting, decides whether carry out task
Planning；Planning module carries out unmanned aerial vehicle flight path planning when needing to be planned again according to plan constraint knowledge base；Communicate mould
Block receives attack and resolves the weight-normality stroke instruction message of Agent and pass it to event checking module, receives planning module output
Route information and be sent to attack resolve Agent and flight tracking control Agent；Plan constraint knowledge base mainly includes that irradiation is effective
Section model, UAV Maneuver constraint etc..
Flight tracking control Agent includes sensing module, control law, posture restraint knowledge base, action module and communication module, is seen
Attached drawing 3.Sensing module receives unmanned plane longitude and latitude, air speed and course angle；Communication module receives the boat that trajectory planning Agent is sent
Line information is simultaneously sent to control law；Control law generates control amount under the restrictive condition of posture restraint knowledge base；Action module connects
It receives control amount and unmanned plane is driven to correspond to rudder face and carry out pose adjustment, realize flight tracking control；Posture restraint knowledge base mainly includes
Target following angular speed constraint, unmanned plane turning posture restraint etc..
It includes sensing module, event checking module, decision-making module, decision rule knowledge base and communication that attack, which resolves Agent,
Module is shown in attached drawing 4.Sensing module receives unmanned plane longitude and latitude, helicopter longitude and latitude, course angle and attack heading；Event detection
Module carries out judgement decision to the data of sensing module and communication module transmitting, determines the branch in starting decision-making module；Decision
Module synthesis external data, according to decision rule knowledge base to whether carry out weight-normality draw, whether allow irradiate, if appropriate for attack
Carry out decision；Communication module is responsible for Agent synchronous with positioning-speed-measuring Agent, trajectory planning Agent and irradiation and carries out data friendship
It changes；Decision rule knowledge base mainly includes attacking effective section model, Track In Track to bit model etc..
Synchronous Agent is irradiated to include sensing module, irradiate decision, laser constraint knowledge library, action module and communication module,
See attached drawing 5.Sensing module receives Helicopter Attacking plan and delay irradiation time；It is defeated that communication module receives attack resolving Agent
Out allow irradiate instruct；Decision is irradiated according to the data of sensing module and communication module, is generated according to laser constraint knowledge library
Laser controlling instruction stream；The laser that action module is controlled according to instruction stream on time on unmanned plane works；Laser constraint is known
Knowing library mainly includes laser command sequence, operating time threshold value etc..
Step 2: output target position, target velocity and target velocity direction being calculated by positioning-speed-measuring Agent, sent to attack
Agent is resolved, resolves whether Agent decision needs to re-start mission planning by attack, if desired, 3 are thened follow the steps, if not
It needs, then goes to step 6.
Step 3: trajectory planning Agent plans unmanned plane during flying course line after receiving planning instruction again again and exports to boat
Mark control agents.
Step 4: flight tracking control Agent generates control instruction after receiving the line of flight of update, and controls unmanned plane execution
Mechanism is executed.
Step 5: after attack resolving Agent receives planning update message, it is whether complete that unmanned plane posture adjustment is carried out within 1 minute
At judgement, posture adjustment is transferred to step 2 after completing or reaching limitation in 1 minute, otherwise waits for unmanned plane and carries out posture adjustment and continuously carry out
This step.
Step 6: attack resolves Agent output Prerequisite and meets message, wait pilot carry out manual decision whether into
Row attack is transferred to step 7, otherwise goes to step 2 if receiving the attack confirmation of pilot.
Step 7: the synchronous Agent of irradiation is received after allowing to irradiate information and is generated laser irradiation device control instruction sequence, control
Laser irradiation device work, to complete helicopter-unmanned plane collaboration strike letter fire synchronously control.
Claims (6)
1. fiery synchronisation control means is believed in a kind of helicopter based on multi-Agent-unmanned plane collaboration strike, it is characterised in that step is such as
Under:
Step 1: asking for collaboration processing and alert response needed for believing fiery synchronously control in strike is cooperateed with according to helicopter with unmanned plane
Topic constructs correlation Agent, including positioning-speed-measuring Agent, trajectory planning Agent, flight tracking control Agent, attack resolving Agent
Agent synchronous with irradiation:
The positioning-speed-measuring Agent receives externally measured data, and carries out positioning and speed arrow to target according to constraint condition
Amount resolves, and exports target positioning result and target velocity size and direction.
The trajectory planning Agent receives externally measured data and other Agent output datas, plans nothing according to constraint condition
The man-machine line of flight exports the course line planned and planning update message.
The flight tracking control Agent receives externally measured data and other Agent output datas, is generated and is controlled according to constraint condition
System instruction, exports control amount.
The attack resolves Agent and receives externally measured data and other Agent output datas, according to constraint condition and decision
Rule generates Agent control command, controls the behavior of other Agent.
The synchronous Agent of the irradiation receives externally measured data and other Agent output datas, is generated according to constraint condition flat
Platform control instruction, output order stream；
Step 2: output target position, target velocity and target velocity direction being calculated by positioning-speed-measuring Agent, send to attack and resolves
Whether Agent resolves Agent by attack and needs to re-start mission planning according to attack constraint condition decision, if desired, then hold
Row step 3 goes to step 6 if not needing；
Step 3: after trajectory planning Agent receives planning instruction again, the information for receiving positioning-speed-measuring Agent output is surveyed with external
Data are measured, plan unmanned plane during flying course line again according to plan constraint condition and are exported to flight tracking control Agent；
Step 4: raw according to Flight Control Law according to externally measured data after flight tracking control Agent receives the line of flight of update
At control instruction, and send to unmanned plane executing agency and executed；
Step 5: after attack resolving Agent receives planning update message, under preset adjustment duration limitation, according to externally measured
Data and the line of flight of update judge whether unmanned plane posture adjustment is completed, and posture adjustment is transferred to after completing or reaching adjustment duration limitation
Step 2, unmanned plane is otherwise waited for carry out posture adjustment and continuously carry out this step；
Step 6: attack resolves Agent output Prerequisite and meets message, and pilot is waited to carry out whether manual decision attacks
It hits, if receiving the attack confirmation of pilot, output allows to irradiate message, is transferred to step 7, otherwise goes to step 2；
Step 7: the synchronous Agent of irradiation is received after allowing to irradiate message, according to externally measured data and irradiation starting constraint condition
Laser irradiation device control instruction is generated, to complete helicopter-unmanned plane collaboration strike letter fire synchronously control.
2. fiery synchronously control side is believed in a kind of helicopter based on multi-Agent according to claim 1-unmanned plane collaboration strike
Method, it is characterised in that the positioning-speed-measuring Agent includes sensing module, positioning-speed-measuring module, resolves constraint knowledge library and lead to
Believe module；Wherein sensing module receives pitch angle, roll angle, course angle, longitude and latitude and the work for scouting irradiation apparatus of unmanned plane
Make state, laser state, laser ranging value and is output to positioning-speed-measuring module；Positioning-speed-measuring module is resolving constraint knowledge
Target position resolving, target velocity estimation, target velocity direction estimation are carried out under the restrictive condition in library；Communication module surveys positioning
The calculation result of fast module is to attack resolves Agent, trajectory planning Agent is distributed；Resolving constraint knowledge library includes laser
Distance measurement value validity, unmanned plane position validity, target velocity threshold value, filtering parameter.
3. fiery synchronously control side is believed in a kind of helicopter based on multi-Agent according to claim 1-unmanned plane collaboration strike
Method, it is characterised in that the trajectory planning Agent includes that sensing module, event checking module, planning module, plan constraint are known
Know library and communication module；Sensing module receives unmanned plane longitude and latitude, true air speed, course angle, and helicopter longitude and latitude, is attacked at course angle
Hit direction；Event checking module carries out judgement decision to the data of sensing module and communication module transmitting, decides whether to be appointed
Business planning；Planning module carries out unmanned aerial vehicle flight path planning when needing to be planned again according to plan constraint knowledge base；Communication
Module receives attack and resolves the weight-normality stroke instruction message of Agent and pass it to event checking module, and it is defeated to receive planning module
Route information out is simultaneously sent to attack and resolves Agent and flight tracking control Agent；The plan constraint knowledge base includes irradiation
Effective section model, UAV Maneuver constraint.
4. fiery synchronously control side is believed in a kind of helicopter based on multi-Agent according to claim 1-unmanned plane collaboration strike
Method, it is characterised in that the flight tracking control Agent include sensing module, control law, posture restraint knowledge base, action module and
Communication module；Sensing module receives unmanned plane longitude and latitude, air speed and course angle；Communication module receives trajectory planning Agent and sends
Route information and be sent to control law；Control law generates control amount under the restrictive condition of posture restraint knowledge base；Act mould
Block, which receives control amount and unmanned plane is driven to correspond to rudder face, carries out pose adjustment, realizes flight tracking control；The posture restraint knowledge
Library includes target following angular speed constraint, unmanned plane turning posture restraint.
5. fiery synchronously control side is believed in a kind of helicopter based on multi-Agent according to claim 1-unmanned plane collaboration strike
Method, it is characterised in that it includes that sensing module, event checking module, decision-making module, decision rule are known that the attack, which resolves Agent,
Know library and communication module；Sensing module receives unmanned plane longitude and latitude, helicopter longitude and latitude, course angle and attack heading；Event inspection
It surveys module and judgement decision is carried out to the data of sensing module and communication module transmitting, determine the branch in starting decision-making module；Certainly
Plan module synthesis external data, according to decision rule knowledge base to whether carrying out weight-normality and draw, whether allow to irradiate, if appropriate for attacking
Hit carry out decision；Communication module is responsible for Agent synchronous with positioning-speed-measuring Agent, trajectory planning Agent and irradiation and carries out data friendship
It changes；The decision rule knowledge base mainly includes attacking effective section model, Track In Track to bit model.
6. fiery synchronously control side is believed in a kind of helicopter based on multi-Agent according to claim 1-unmanned plane collaboration strike
Method, it is characterised in that the synchronous Agent of the irradiation includes sensing module, irradiation decision, laser constraint knowledge library, action module
And communication module；Sensing module receives Helicopter Attacking plan and delay irradiation time；Communication module receives attack and resolves Agent
Output allows to irradiate instruction；Decision is irradiated according to the data of sensing module and communication module, according to the life of laser constraint knowledge library
At laser controlling instruction stream；The laser that action module is controlled according to instruction stream on time on unmanned plane works；Described swashs
Light constraint knowledge library includes laser command sequence, operating time threshold value.
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