CN109976383B

CN109976383B - Task allocation method and device for anti-isomorphic unmanned aerial vehicle

Info

Publication number: CN109976383B
Application number: CN201910345627.3A
Authority: CN
Inventors: 王书峰; 姜春福; 张男; 韩鲁
Original assignee: Beijing Zhongke Xingtong Technology Co ltd
Current assignee: Beijing Zhongke Xingtong Technology Co ltd
Priority date: 2019-04-26
Filing date: 2019-04-26
Publication date: 2022-03-08
Anticipated expiration: 2039-04-26
Also published as: CN109976383A

Abstract

The invention provides a task allocation method and a device for an anti-isomorphic unmanned aerial vehicle, wherein the method comprises the following steps: acquiring position information of at least two points on the motion trail of the isomorphic unmanned aerial vehicle; determining a motion trail equation of the unmanned aerial vehicle target according to the position information of the at least two points; calculating intersection point position information according to a motion track equation and an equation of an effective hitting range of the laser weapon; calculating the time when the unmanned aerial vehicle target enters and leaves the effective striking range according to the intersection point position information and the detected time and speed of the unmanned aerial vehicle target; sequencing the targets of the unmanned aerial vehicles from morning to evening according to the time when the targets enter the effective striking range, and sequencing the targets from morning to evening according to the time when the targets leave the effective striking range; according to the principle of maximum striking benefit, the striking sequence and the striking time window of the sequenced unmanned aerial vehicle targets are sequentially determined in a mode of comparing the distribution priorities in pairs, and then striking tasks are distributed. Can improve the strike benefit to isomorphic unmanned aerial vehicle through above-mentioned scheme.

Description

Task allocation method and device for anti-isomorphic unmanned aerial vehicle

Technical Field

The invention relates to the technical field of anti-jamming unmanned aerial vehicles, in particular to a task allocation method and device for an anti-isomorphic unmanned aerial vehicle.

Background

Along with the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicle commercialization degree is higher and higher, and simultaneously, it can bring very big threat to social security. In particular, the swarm attack tactics developed to make up the defects of small payload, short acting distance, weak hitting ability, easy hitting and the like of a single unmanned aerial vehicle have higher harmfulness to the ground target.

However, at present, relevant control measures for the unmanned aerial vehicle are seriously lacked and lagged. In anti-unmanned aerial vehicle combat, the prevention and the strike degree of difficulty of swarm attack are far greater than that of a single unmanned aerial vehicle, and the radar detection, the laser strike and the cooperation among the systems provide higher requirements.

Disclosure of Invention

In view of the above, the invention provides a task allocation method and device for an anti-homogeneous unmanned aerial vehicle, so as to improve the attack benefit on the swarm attack of the homogeneous unmanned aerial vehicle.

In order to achieve the purpose, the invention is realized by adopting the following scheme:

according to one aspect of the invention, the task allocation method of the anti-isomorphic unmanned aerial vehicle comprises the following steps: acquiring position information of at least two points on the motion trail of each unmanned aerial vehicle target in the isomorphic unmanned aerial vehicle; determining an equation of a corresponding motion track of the unmanned aerial vehicle target according to the position information of the at least two points; calculating intersection point position information of the corresponding motion trail of the unmanned aerial vehicle target and the effective striking range of the laser weapon according to the equation of the motion trail of the unmanned aerial vehicle target and the equation of the effective striking range of the laser weapon; calculating the time when the unmanned aerial vehicle target enters the effective striking range and the time when the unmanned aerial vehicle target leaves the effective striking range according to the intersection point position information and the corresponding detected time and the detected time of the unmanned aerial vehicle target; sequencing the unmanned aerial vehicle targets from morning to evening according to the time when the unmanned aerial vehicle targets enter the effective striking range, and further sequencing the unmanned aerial vehicle targets entering the effective striking range from morning to evening according to the time when the unmanned aerial vehicle targets leave the effective striking range; according to the principle of maximum striking benefit, sequentially determining the striking sequence and striking time window of each sequenced unmanned aerial vehicle target in a mode of carrying out distribution priority comparison in pairs according to the moment of entering the effective striking range, the moment of leaving the effective striking range and the time required by striking the unmanned aerial vehicle target; and distributing the task of striking the isomorphic unmanned aerial vehicle to the laser weapon according to the struck sequence and the striking time window of each unmanned aerial vehicle target.

According to yet another aspect of the invention, a computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of the above-mentioned embodiments.

According to a further aspect of the invention, a computer device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of the above embodiment when executing the program.

The task allocation method of the anti-isomorphic unmanned aerial vehicle, the computer readable storage medium and the computer equipment can fully utilize laser weapon resources and improve the hitting benefit of the isomorphic unmanned aerial vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:

fig. 1 is a schematic flowchart of a task allocation method for an anti-homogeneous unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a task allocation method for an anti-homogeneous unmanned aerial vehicle according to another embodiment of the present invention;

FIG. 3 is a flowchart illustrating a method for determining a sequence of striking and a striking time window for each sequenced drone target according to an embodiment of the present invention;

FIG. 4 is a two-dimensional schematic diagram of a radar detection range, an effective strike range of a laser weapon, and a linear trajectory of a drone in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram of the sorting of time windows for drone targets in an embodiment of the present invention;

fig. 6-32 are schematic diagrams of the time window relationship of two drone targets in some embodiments of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

It should be noted in advance that the homogeneous drone may be a swarm drone, and generally includes a plurality of drones, and in the anti-drone battle, the time required for each drone in the homogeneous drone to be struck (for example, struck down) is generally the same. The invention provides a task allocation method of an anti-isomorphic unmanned aerial vehicle, which can be used for pertinently striking the isomorphic unmanned aerial vehicle, can fully utilize anti-system resources such as laser weapons and the like, and improves the benefit of striking the isomorphic unmanned aerial vehicle.

Fig. 1 is a schematic flow chart of a task allocation method for an anti-homogeneous unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, in some embodiments, a task allocation method for an anti-homogeneous drone may include:

step S110: acquiring position information of at least two points on the motion trail of each unmanned aerial vehicle target in the isomorphic unmanned aerial vehicle;

step S120: determining an equation of a corresponding motion track of the unmanned aerial vehicle target according to the position information of the at least two points;

step S130: calculating intersection point position information of the corresponding motion trail of the unmanned aerial vehicle target and the effective striking range of the laser weapon according to the equation of the motion trail of the unmanned aerial vehicle target and the equation of the effective striking range of the laser weapon;

step S140: calculating the time when the unmanned aerial vehicle target enters the effective striking range and the time when the unmanned aerial vehicle target leaves the effective striking range according to the intersection point position information and the corresponding detected time and the detected time of the unmanned aerial vehicle target;

step S150: sequencing the unmanned aerial vehicle targets from morning to evening according to the time when the unmanned aerial vehicle targets enter the effective striking range, and further sequencing the unmanned aerial vehicle targets entering the effective striking range from morning to evening according to the time when the unmanned aerial vehicle targets leave the effective striking range;

step S160: according to the principle of maximum striking benefit, sequentially determining the striking sequence and striking time window of each sequenced unmanned aerial vehicle target in a mode of carrying out distribution priority comparison in pairs according to the moment of entering the effective striking range, the moment of leaving the effective striking range and the time required by striking the unmanned aerial vehicle target;

step S170: and distributing the task of striking the isomorphic unmanned aerial vehicle to the laser weapon according to the struck sequence and the striking time window of each unmanned aerial vehicle target.

In the above step S110, the drone in the homogenous drone is taken as the striking target, i.e., the drone target. For each unmanned aerial vehicle target, the position information of the points can be acquired when the unmanned aerial vehicle target passes through two or more points successively. The position information of the point through which the drone target moves, such as two-dimensional or three-dimensional coordinate values, may be located by radar or other types of devices. Wherein, the point that the located drone target passes through may be fixed or updated in real time.

In step S120, an equation of the motion trajectory of the drone target may be determined by fitting or setting equation types. For example, it may be assumed that the motion trajectory of the unmanned aerial vehicle target is a straight line, an exponential curve, or the like, and accordingly, the obtained equation of the motion trajectory of the unmanned aerial vehicle target is a straight line equation, an exponential curve equation, or the like. Under the condition that points through which the unmanned aerial vehicle target passes are updated in real time, an equation of the motion trail of the updated unmanned aerial vehicle target can be obtained in real time, and the equations of the motion trail obtained according to different points of the positioned unmanned aerial vehicle target can be different. Under the condition that the motion trail of the unmanned aerial vehicle target is assumed to be a straight line, the straight line equation of the motion trail of the unmanned aerial vehicle target can be determined only according to the position information of the two points.

In step S130, an equation of the effective striking range of the laser weapon, for example, an equation of the maximum effective striking range, may be determined according to the situation of the laser weapon, for example, a circular equation. Specifically, intersection point position information of the unmanned aerial vehicle target and the laser weapon can be obtained by solving an equation system including an equation of the motion trajectory of the two and an equation of the effective striking range of the laser weapon, and in the case where an intersection point exists between the motion trajectory and the effective striking range, there may be one intersection point, two intersection points, or more intersection points. Under the condition that the effective striking range is circular and the motion trail of the unmanned aerial vehicle target is a straight line, if two intersection points exist between the two, the unmanned aerial vehicle target can be regarded as the striking target of the laser weapon; if the two points do not have an intersection point, the laser weapon can not hit the unmanned aerial vehicle target, and the unmanned aerial vehicle target can be considered not to be the hitting target of the laser weapon; if there is an intersection point between the two, it indicates that the linear motion trajectory of the unmanned aerial vehicle target is tangent to the circular effective striking range of the laser weapon, and at this time, it can be considered that the laser weapon cannot strike the unmanned aerial vehicle target, that is, it can be considered that the unmanned aerial vehicle target does not become the striking target of the laser weapon. When a plurality of laser weapons are used to strike an isomorphic unmanned aerial vehicle, the intersection point position information corresponding to the unmanned aerial vehicle target which can be used as the striking target of each laser weapon can be obtained according to the effective striking range of each laser weapon.

In the above step S140, when the radar is used to locate the unmanned aerial vehicle target, the time when the unmanned aerial vehicle target enters the effective detection range of the radar may be used as the detected time of the unmanned aerial vehicle target, and the instantaneous speed when the unmanned aerial vehicle target enters the effective detection range of the radar may be used as the detected time of the unmanned aerial vehicle target. In other embodiments, a certain time after the drone target enters the effective detection range of the radar may be taken as the detected time of the drone target, and the obtained corresponding instantaneous speed may be taken as the speed of the drone target when detected.

In the step S150, the unmanned aerial vehicle targets are preferentially sorted according to the time when the unmanned aerial vehicle targets enter the effective striking range. And under the condition that the time when the unmanned aerial vehicle targets enter the effective striking range is the same, sequencing according to the time when the unmanned aerial vehicle targets leave the effective striking range. Under the condition that the moment when the unmanned aerial vehicle target enters the effective striking range and the moment when the unmanned aerial vehicle target leaves the effective striking range are the same, namely the striking time windows of the unmanned aerial vehicles are completely the same, and the unmanned aerial vehicles can be randomly sequenced.

In step S160, the principle of maximizing the striking benefit may include that striking is prior to striking, the number of drone targets struck is as large as possible, special drone targets (such as the leader in a swarm drone) are preferentially struck, and the like. For an unmanned aerial vehicle target, the maximum striking time window of the unmanned aerial vehicle target can be calculated according to the moment when the unmanned aerial vehicle target enters the effective striking range and the moment when the unmanned aerial vehicle target leaves the effective striking range. Through the biggest striking time window of contrast this unmanned aerial vehicle target and the required time of being struck of this unmanned aerial vehicle target, can learn this unmanned aerial vehicle target can be hit down, still can only be hit the wound. Determining the priority distribution sequence of different unmanned aerial vehicle targets according to the relation between the moments when the different unmanned aerial vehicle targets enter the effective striking range and the relation between the moments when the different unmanned aerial vehicle targets leave the effective striking range. For each drone target, the determined time-to-strike window may be equal to or less than the maximum time-to-strike window for the corresponding drone target, or, in some cases, the striking of a certain drone target or targets may be abandoned, at which point the determined corresponding time-to-strike window may be considered zero.

In step S170, the determined striking time window of the drone target may represent a window width, a striking start time, and a striking end time. After a task of hitting an unmanned aerial vehicle target is distributed to a laser weapon, the laser weapon can be automatically triggered and controlled to hit the unmanned aerial vehicle target after a hitting time window corresponding to the unmanned aerial vehicle target is reached.

In the embodiment, the intersection point position of the unmanned aerial vehicle entering and exiting the striking range is obtained by utilizing the motion trail equation and the effective striking range equation, the time of the unmanned aerial vehicle entering and exiting the striking range is obtained according to the intersection point position and the speed of the unmanned aerial vehicle, all unmanned aerial vehicle striking targets corresponding to the laser weapons are sequenced according to the time of the unmanned aerial vehicle entering and exiting the striking range, the striking sequence and the striking time window of each unmanned aerial vehicle corresponding to the laser weapons are determined according to the principle of maximum striking benefit, then striking tasks are distributed to the laser weapons according to the struck sequence and the striking time window of the unmanned aerial vehicle, the laser weapon resources can be fully utilized, and the striking benefit of the isomorphic unmanned aerial vehicles is improved.

In some embodiments, the step S120, that is, a specific implementation of the equation for determining the motion trajectory of the corresponding drone target according to the position information of the at least two points, may include: and determining a linear equation according to the position information of the at least two points, wherein the linear equation is used as a corresponding equation of the motion track of the unmanned aerial vehicle target.

In this embodiment, assume that the trajectory of motion of the unmanned aerial vehicle is a straight line, and the trajectory of motion can be determined conveniently and quickly according to two positions of the unmanned aerial vehicle, so as to predict the intersection position of the trajectory of motion and the detection range. Moreover, since a straight line can be determined by only two points at minimum, the straight line can be determined in real time according to the latest motion position. In addition, when a plurality of points are located, a linear equation can be obtained through fitting, so that the prediction result is more accurate.

In some embodiments, the step S130, that is, a specific implementation of calculating intersection position information of the motion trajectory of the drone target and the effective striking range of the laser weapon according to the equation of the motion trajectory of the drone target and the equation of the effective striking range of the laser weapon, may include: and solving an equation set formed by the linear equation and a circular equation corresponding to the maximum effective striking range of the laser weapon to obtain the intersection point position information of the corresponding motion track of the unmanned aerial vehicle target and the effective striking range of the laser weapon.

In this embodiment, it is assumed that the motion trajectory is a straight line, and the maximum effective striking range of the laser weapon is considered to be a circle, so that the analytic solution of the equation set can be conveniently solved, and the solution result is fast and accurate. In other embodiments, the solution of the system of equations consisting of the equation of the trajectory of motion of the drone target and the equation of the effective strike range of the laser weapon may be obtained by numerical calculations.

Fig. 2 is a schematic flow chart of a task allocation method for an anti-homogeneous drone according to another embodiment of the present invention. As shown in fig. 2, the method for allocating tasks to the anti-homogeneous unmanned aerial vehicle shown in fig. 1 may further include, before step S140, that is, before the time when the unmanned aerial vehicle target enters the effective striking range and the time when the unmanned aerial vehicle target leaves the effective striking range are calculated according to the intersection position information and the corresponding detected time and detected speed of the unmanned aerial vehicle target, the method further includes:

step S180: and judging whether the current position of the unmanned aerial vehicle target is within the effective striking range of the laser weapon, and if so, updating the position information of the intersection point when entering the effective striking range of the laser weapon in the intersection point position information into the information of the current position of the unmanned aerial vehicle target.

In the step S180, for example, the current position of the unmanned aerial vehicle target may be located in real time by using a radar, and after the position information of the intersection point is calculated by using the position information of at least two points obtained by previous location, since the step S120, the step S130, and the like may take a certain time, the position of the unmanned aerial vehicle target may have changed, that is, the current position of the unmanned aerial vehicle target may not be the position for calculating the intersection point position that is initially located. Therefore, if the current position of the unmanned aerial vehicle target is still outside the effective striking range of the laser weapon, the intersection point position information obtained by original calculation can still be used, and if the current position of the unmanned aerial vehicle target is still within the effective striking range of the laser weapon, the intersection point position information obtained before can be replaced by the information of the current position.

In this embodiment, through updating the intersection point position information, the situation that the unmanned aerial vehicle target has entered into the effective striking range of the laser weapon, but the information such as the time of reaching the intersection point when just entering the effective striking range is still calculated can be prevented, and therefore the accuracy of the subsequent calculation result can be improved.

Fig. 3 is a flowchart illustrating a method for determining the sequence of striking targets and the striking time window of each sequenced drone target according to an embodiment of the present invention. As shown in fig. 3, in some embodiments, the step S160, namely, sequentially determining the sequence of struck targets and the striking time window of each sequenced drone target by performing distribution priority comparison in pairs according to the time of entering the effective striking range, the time of leaving the effective striking range, and the time required for striking the drone target according to the principle of maximizing striking benefit, may include:

step S161: comparing the time t of the first unmanned aerial vehicle target in the sorted unmanned aerial vehicle targets entering the effective striking range₁₀A time t of a second unmanned aerial vehicle target of the sorted unmanned aerial vehicle targets entering the effective striking range₂₀Time t of departure of the first drone target from the effective range of attack₁₁And the time t when the second unmanned aerial vehicle target leaves the effective striking range₂₁To determine a relationship between the maximum striking time window of the first drone target and the maximum striking time window of the second drone target; said first drone target is ranked ahead of said second drone target;

step S162: according to the comparison result, according to the principle of maximum striking benefit, according to the time t of the first unmanned aerial vehicle target entering the effective striking range₁₀The time t when the second unmanned aerial vehicle target enters the effective striking range₂₀Time t of departure of the first drone target from the effective range of attack₁₁Time t of departure of the second drone target from the effective range of attack₂₁Determining the striking sequence and the striking time window of the first unmanned aerial vehicle target and the second unmanned aerial vehicle target.

In the step S161, the first drone target and the second drone target may be heads of homogeneous drones sequenced in the step S150Two unmanned aerial vehicles. In particular, t may be compared₁₀And t₂₀、t₁₁And t₂₁And comparing t₂₀And t₁₁The first drone target and the second drone target may be determined to belong to the case where the starting time and the ending time are the same, the starting time is the same but the ending time is different, the starting time is different but the striking time windows are partially overlapped, the starting time is different but the maximum striking time window of one drone includes the maximum striking time window of the other drone, and the maximum striking time windows of the two drone are completely not overlapped.

In the above step S162, it is determined which of the maximum striking time window of the first drone target and the maximum striking time window of the second drone target belongs to through the above step S161, and then a more specific determination can be made according to the classification to which the first drone target belongs, for example, whether the drone target can be struck or not or can only be struck is determined by comparing the maximum striking time window with the time required for striking the drone target, and whether the second drone target can be struck or not is determined by comparing the striking time remaining for the second drone target after striking the first drone target with the maximum striking time window.

In this embodiment, the striking window relationship type of the first unmanned aerial vehicle target and the striking window relationship type of the second unmanned aerial vehicle target are determined by determining the relationship between the maximum striking time window of the first unmanned aerial vehicle target and the maximum striking time window of the second unmanned aerial vehicle target, and then further determination is made for the type, so that analysis and determination can be comprehensively performed.

In some embodiments, in step S162, the time t when the first drone target enters the effective striking range is determined according to the comparison result and the principle of maximum striking benefit₁₀The time t when the second unmanned aerial vehicle target enters the effective striking range₂₀Time t of departure of the first drone target from the effective range of attack₁₁Time t of departure of the second drone target from the effective range of attack₂₁The first drone target and the second drone targetThe determining the striking sequence and the striking time window of the first drone target and the second drone target according to the time T required for striking the two drone targets may include:

wherein, the first drone target is ranked before the second drone target, stating t₁₀≤t₂₀。

At t₁₀＝t₂₀And t is₁₁＝t₂₁In the case of (a), the maximum attack time range (t) of the first drone target₁₀，t₁₁) Maximum time to attack range (t) with a second drone target₂₀，t₂₁) Exactly the same if t₁₀+T≤t₁₁The first drone target and the second drone target may both be knocked down separately, more specifically, may be divided into two cases: one is, t₁₀+T≤t₂₁-T, hitting a first drone target and a second drone target in succession, both drone targets being hit; alternatively, t is₁₀+T＞t₂₁-T, the first drone target and the second drone target are incompatible for a strike, so only one can be selected for a strike, and the other is struck. In the former case, after the first drone target is knocked down, the remaining time is only enough to knock down the second drone target, and for the former case, the second drone target is not knocked down enoughIn one case, the first unmanned aerial vehicle target is knocked down preferentially, and then the second unmanned aerial vehicle target is knocked down; to the latter case, two unmanned aerial vehicle targets can only be hit off in one, so can choose to hit off first unmanned aerial vehicle target earlier, hit the second unmanned aerial vehicle target of wounding again.

At t₁₀＝t₂₀And t is₁₁＝t₂₁In the case of (1), if t₁₀+T＞t₁₁The first unmanned aerial vehicle target or the second unmanned aerial vehicle target cannot be knocked down and can only be knocked down, if the second unmanned aerial vehicle target is not the last one, abandoning the first unmanned aerial vehicle target can avoid that all the follow-up targets are abandoned due to the fact that the follow-up targets are the same as or similar to the second unmanned aerial vehicle target under extreme conditions, and therefore the first unmanned aerial vehicle target is chosen to be abandoned.

At t₁₀＝t₂₀And t is₁₁≠t₂₁In the case of (2), the first drone target and the second drone target have the same start time of being struck earliest but different end times. If t₁₀+T≤t₁₁And t is₂₀+T≤t₂₁The first drone target and the second drone target may both be struck individually in their respective maximum striking time windows, which may be more specifically divided into two cases: one is, t₂₁-T≥t₁₀+ T, then the first drone target may be knocked down first and then the second drone target, another is, T₂₁-T＜t₁₀+ T, then can hit down first unmanned aerial vehicle target preferentially, hit the second unmanned aerial vehicle target again.

At t₁₀＝t₂₀And t is₁₁≠t₂₁In the case of (1), if t₁₀+T＞t₁₁And t is₂₀+T≤t₂₁Only can injure first unmanned aerial vehicle target, and can hit second unmanned aerial vehicle target down, under this condition, preferentially strike second unmanned aerial vehicle target, recycle the remaining time and strike first unmanned aerial vehicle target, similar, if t₁₀+T≤t₁₁And t is₂₀+T＞t₂₁Only can injure the second unmanned aerial vehicle target and can hit down the first unmanned aerial vehicle targetIn this case, the first drone target is struck first, and the second drone target is struck again with the remaining time, so that the striking benefit can be maximized.

At t₁₀＝t₂₀And t is₁₁≠t₂₁In the case of (1), if t₁₀+T＞t₁₁And t is₂₀+T＞t₂₁And the first unmanned aerial vehicle target and the second unmanned aerial vehicle target can not be knocked down and can only be knocked down. Under the condition that the second unmanned aerial vehicle target is not the last unmanned aerial vehicle target, if the unmanned aerial vehicle target with the larger maximum striking time window is struck preferentially, if the subsequent unmanned aerial vehicle target is similar to the unmanned aerial vehicle target with the smaller maximum striking time window, the subsequent unmanned aerial vehicle target is abandoned, therefore, the unmanned aerial vehicle target with the larger maximum striking time window is struck preferentially by sacrificing, and the unmanned aerial vehicle target with the smaller maximum striking time window is struck preferentially, so that the risks can be avoided. Of course, if the second drone target is the last drone target, then the drone target with the larger maximum strike time window may be struck preferentially to increase the strike value.

At t₁₀≠t₂₀、t₁₁≠t₂₁And t is₁₁≥t₂₀In the case of (2), the maximum striking time window of the first drone target and the maximum striking time window of the second drone target partially overlap, but the earliest striking start time and the latest striking end time of the two are different. If t₁₁≥t₁₀+ T, can hit down the first drone target, if T₂₀≥t₁₀+ T, the striking start time of the second drone target may not be affected by the first drone target, if T₂₀＜t₁₀+ T, the striking of second unmanned aerial vehicle target is originated the moment and is influenced by first unmanned aerial vehicle target, and can confirm according to the striking termination moment of first unmanned aerial vehicle target, and these two kinds of condition, all can strike first unmanned aerial vehicle target preferentially.

At t₁₀≠t₂₀、t₁₁≠t₂₁And t is₁₁≥t₂₀In the case of (1), if t₁₁＜t₁₀+ T, only the first drone target can be hit, one may directly choose to abandon the first drone target and reserve more hitting time for the second drone target, or, depending on the more specific situation, determine the way to handle the first drone target and determine the hitting start time of the second drone target. t is t₁₁＜t₁₀When + T, if T₂₁-T≥t₁₁And enough time can be left for hitting the second unmanned aerial vehicle target after hitting the first unmanned aerial vehicle target, so that the first unmanned aerial vehicle target can be injured firstly, and then the second unmanned aerial vehicle target can be hit, or the first unmanned aerial vehicle target is abandoned and only the second unmanned aerial vehicle target is hit. t is t₁₁＜t₁₀When + T, if T₂₀≤t₂₁-T＜t₁₁And the second unmanned aerial vehicle target is hit down in insufficient time after the first unmanned aerial vehicle target is hit, so that the hitting termination moment of the first unmanned aerial vehicle target can be adjusted to reserve sufficient time for hitting the second unmanned aerial vehicle target, or the first unmanned aerial vehicle target is directly abandoned, and the second unmanned aerial vehicle target is guaranteed to be hit down. t is t₁₁＜t₁₀When + T, if T₂₁-T＜t₂₀And if the first unmanned aerial vehicle target and the second unmanned aerial vehicle target can be both damaged by being hit, the first unmanned aerial vehicle target is preferentially hit and then the second unmanned aerial vehicle target is hit.

At t₁₀<t₂₀And t is₁₁>t₂₁In the case of (2), the earliest striking start time and the latest striking end time of the first drone target and the second drone target are different from each other, and the maximum striking time window of the second drone target is contained within the maximum striking time window of the first drone target. If t₂₀≥t₁₀+ T, can hit first unmanned aerial vehicle target, then strike first unmanned aerial vehicle target preferentially, strike second unmanned aerial vehicle target again. If t₂₀＜t₁₀+T＜t₂₁If the second unmanned aerial vehicle target can be hit down or not according to the remaining time after the first unmanned aerial vehicle target is hit downThe human-computer target determines the striking strategy according to the situation. t is t₂₀＜t₁₀+T＜t₂₁When, if t is₂₁-T≥t₁₀+ T, if the remainder after hitting the first unmanned aerial vehicle target can also hit the second unmanned aerial vehicle target, first hitting the first unmanned aerial vehicle target, and then determining the starting time for hitting the second unmanned aerial vehicle target. t is t₂₀＜t₁₀+T＜t₂₁When, if t is₂₀≤t₂₁-T＜t₁₀+ T, first unmanned aerial vehicle target and second unmanned aerial vehicle target all can be hit down alone, but if hit first unmanned aerial vehicle target earlier, second unmanned aerial vehicle target can' T be hit down, can confirm the strike strategy according to more specific condition this moment: t is t₂₀+T≤t₁₁-T, the maximum attack time window for the first drone target is larger, and if the first drone target can still be hit after the first attack for the second drone target, the second drone target can be hit first; t is t₂₀+T＞t₁₁-T, if neither the second drone target nor the first drone target is hit first, then the remaining time is no longer to hit the other drone target, then the first drone target may be hit first and then the second drone target may be hit.

At t₁₀<t₂₀And t is₁₁>t₂₁In the case of (1), if t₂₁＜t₁₀+T≤t₁₁Due to t₂₀>t₁₀Inevitably t₂₀+T＞t₂₁That is, the second drone target cannot be knocked down, but can only be knocked down, and at this point, the first drone target is capable of being knocked down, then the second drone target may be abandoned. If t₁₁＜t₁₀+ T, then first unmanned aerial vehicle target and second unmanned aerial vehicle target can not hit down, can only be hit wounded, and at this moment, if strike first unmanned aerial vehicle target before first, do not have time to strike second unmanned aerial vehicle target, because the time window of first unmanned aerial vehicle target is longer, strike worth bigger, then can strike first unmanned aerial vehicle target by priority to give up second unmanned aerial vehicle target.

At t₂₀>t₁₁In the case of (2), the striking start timing of the second drone target is not affected by the striking end timing of the first drone target. If t₁₀+T≤t₁₁The first unmanned aerial vehicle target can be knocked down, the first unmanned aerial vehicle target can be struck preferentially, and then the second unmanned aerial vehicle target can be struck; if t₁₀+T＞t₁₁The first unmanned aerial vehicle target can not be hit down, can only be hit wounded, also can strike first unmanned aerial vehicle target preferentially, strikes second unmanned aerial vehicle target again, because, the striking of second unmanned aerial vehicle target is not influenced at the starting moment.

In this embodiment, the end time in the striking time window is determined temporarily. By comparing t₁₀And t₂₀、t₁₁And t₂₁、t₂₀And t₁₁The first drone target and the second drone target are divided into five cases (i.e., t)₁₀＝t₂₀And t is₁₁＝t₂₁，t₁₀＝t₂₀And t is₁₁≠t₂₁，t₁₀≠t₂₀、t₁₁≠t₂₁And t is₁₁≥t₂₀，t₁₀<t₂₀And t is₁₁>t₂₁，t₂₀>t₁₁) And then, carrying out more specific classification according to the situations, and determining the striking task allocation strategies (including striking task allocation sequence, whether to strike, striking window starting time, striking window ending time and the like) of the first unmanned aerial vehicle target and the second unmanned aerial vehicle target according to the principle of striking benefit maximization, so that striking task allocation of the first two unmanned aerial vehicle targets in the isomorphic unmanned aerial vehicles can be realized.

In a further embodiment, the step S162 may further include:

in the presence of a temporarily determined termination instant in the striking time window of the second drone target: if a third unmanned aerial vehicle target exists in the sequenced unmanned aerial vehicle targets, determining the distribution priority, the hit sequence and the hit time window of the second unmanned aerial vehicle target and the third unmanned aerial vehicle target according to the moment when the third unmanned aerial vehicle target enters the effective hit range, the moment when the third unmanned aerial vehicle target leaves the effective hit range, the temporarily determined ending moment in the hit time window of the second unmanned aerial vehicle target, the temporarily determined starting moment in the hit time window of the second unmanned aerial vehicle target and the hit required time of the unmanned aerial vehicle target; if the second unmanned aerial vehicle target is the last unmanned aerial vehicle target in the sequenced unmanned aerial vehicle targets, allocating a striking time window of the second unmanned aerial vehicle target according to the temporarily determined ending time in the striking time window of the second unmanned aerial vehicle target and the temporarily determined starting time in the striking time window of the second unmanned aerial vehicle target; wherein the second drone target is ranked ahead of the third drone target;

in the presence of a temporarily determined termination instant in the striking time window of the first drone target: if a third unmanned aerial vehicle target exists in the sequenced unmanned aerial vehicle targets, determining the distribution priority, the hit sequence and the hit time window of the first unmanned aerial vehicle target and the third unmanned aerial vehicle target according to the moment when the third unmanned aerial vehicle target enters the effective hit range, the moment when the third unmanned aerial vehicle target leaves the effective hit range, the temporarily determined ending moment in the hit time window of the first unmanned aerial vehicle target, the temporarily determined starting moment in the hit time window of the first unmanned aerial vehicle target and the hit required time of the unmanned aerial vehicle target; if the second unmanned aerial vehicle target is the last unmanned aerial vehicle target in the sequenced unmanned aerial vehicle targets, allocating the striking time window of the first unmanned aerial vehicle target according to the temporarily determined ending time in the striking time window of the first unmanned aerial vehicle target and the temporarily determined starting time in the striking time window of the first unmanned aerial vehicle target.

In this embodiment, if there is a third drone target after the second drone target in the drone targets sorted in step S161, the second drone target is the third drone targetTarget earliest striking start time (time t of entering the effective striking range)₂₀) Less than or equal to the earliest striking start time of the third drone target (time t of entering the effective striking range)₃₀) The latest striking end time of the second drone target (time t of departure from the effective striking range)₂₁) Less than or equal to the latest striking end time of the third drone target (time t of departure from the effective striking range)₃₁). In the case of an end time or a provisional determination in the striking time window of the first drone target or of the second drone target, it is also possible to combine the provisional determined striking time window of the first drone target or of the second drone target (determined by the allocated start time and the provisional determined end time) with the maximum striking time window of the third drone target (t₃₀，t₃₁) A comparison is made to assign a final strike time window for the mission that strikes the second drone target.

In some embodiments, the maximum striking time window or the temporarily determined striking time window of the previous drone target of the drone targets sorted by step S161 above may be compared in turn with the maximum striking time window of the next drone target to determine the striking order and the final striking time window of all drone targets of the homogenous drone targets, wherein the final striking time window is determined by the finally determined start time and end time.

In some embodiments, the number of the laser weapons may be multiple, and at this time, the drone target corresponding to each laser weapon may be determined by the method of the above embodiments for each laser weapon, and the striking time window of each drone target corresponding to each laser weapon may be determined, including the start time and the end time. With this, it is possible to realize striking task allocation when striking a homogenous drone with a plurality of laser weapons.

In some embodiments, the detected time may be a time when the radar enters a detection range, so that the strike time window can be conveniently determined. The detected speed can be the instantaneous speed of the unmanned aerial vehicle target when the unmanned aerial vehicle target enters a radar detection range, so that the calculation process can be simplified, and the prediction of the target motion track of the unmanned aerial vehicle is realized.

In order to make the present invention better understood by those skilled in the art, the following description will be given as a specific embodiment of the present invention:

fig. 4 is a two-dimensional schematic diagram of a radar detection range, an effective attack range of a laser weapon, and a linear motion trajectory of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 4, considering the general situation, an anti-drone system is set, which includes 1 radar, 3 laser weapons, and 5 drone targets in different states. Let the radar detection range be O₁Centered at R_rIs a circle with radius, and the effective striking range S of the laser weapon₁、S₂、S₃Are each O₁、O₂Or O₃As a center of circle and with R_lFor a circle of radius, set unmanned aerial vehicle target M₁、M₂、M₃、M₄、M₅The motion trail is a straight line. The radar is located at the origin of coordinates as the center, the deployment position of one laser coincides with the radar position, and the positions of 3 laser weapons are respectively:

O₁：[0，0]；

O₂：[1300.0，1100.0]；

O₃：[-1500.0，1600.0]。

calculating unmanned aerial vehicle target M₁、M₂、M₃、M₄、M₅The motion track and the effective striking range S of the laser weapon₁、S₂、S₃The process of the intersection coordinates of (a) is as follows:

target M of unmanned aerial vehicle_i(1. ltoreq. i. ltoreq.m, m being a positive integer) with a velocity (v)_i,α_i)(v_iIs the magnitude of velocity, α_iIncluded angle of motion direction and straight line), laser weapon N_jThe circle center coordinate of the effective striking range (i is more than or equal to 1 and less than or equal to n, n is a positive integer) is (a)_j，b_j) The effective striking range has a radius of R_j. To maximize the effective strike of a laser weaponThe expression for the range is:

using the position coordinates (x) of two points on the motion trail of each unmanned aerial vehicle target₁,y₁) And (x)₂,y₂) For calculating data, at the moment after obtaining the position coordinates of the two points, the unmanned aerial vehicle target M_iThe expression (equation) of the linear motion trajectory of (1) is:

wherein c is_iIs a constant number of times, and is,

the above linear expression can be simplified as:

y_i＝k_ix_i+c_iwherein

Solving the system of equations consisting of the above circular equation (1) and the linear equation (2) can obtain:

simplifying equation (3) above yields:

the solution of equation (3) above can be expressed as:

so, unmanned aerial vehicle target M₁、M₂、M₃、M₄、M₅The motion track and the effective striking range S of the laser weapon₁、S₂、S₃Point of intersection ofThe set of coordinates may be expressed as:

in the matrix (5), each row represents the intersection point of the motion track of a certain unmanned target and the effective hitting range of each laser weapon; each column represents the intersection of the effective range of attack of a laser weapon and the trajectory of motion of the drone targets. In fact, since a drone target may only intersect the effective strike zone of one or more of the laser weapons, and a laser weapon may only intersect drone targets, there are many values in the above determinant that are null, indicating that a target is not within the effective strike zone of a laser weapon, or that a laser weapon is unable to strike an unmanned target.

The result of solving the coordinates of the intersection point is described as a specific example:

referring to fig. 4, for example, an anti-drone system contains 3 laser weapons, 5 drone targets (drone targets may include rotor targets, fixed-wing targets, kites, Kongming lights, etc.), and 3 laser coordinates are given as: (0,0) (1300, 1100) (-1500, 1600) radii are 1000 m. Let the linear equation of the motion trajectories of the 5 drone targets be determined from the following points:

startP1 ═ 0.0, -1700.0; endP1 ═ 1100.0, 0.0; simulation as radar data

startP2 ═ 2100.0,0.0 ]; endP2 ═ 0.0,4400.0; simulation as radar data

startP3 [ -250.0,0.0 ]; endP3 ═ 0.0,800.0; simulation as radar data

startP4 ═ 0.0, -450.0; endP4 [ -700.0,0.0 ]; simulation as radar data

startP5 ═ 0.0,450.0; endP5 ═ 3500.0, 0.0; simulation as radar data

The intersection point of the linear equation of the 5 unmanned aerial vehicle targets determined by the points and the effective detection range of the radar is assumed to be (the following points are simulation data set for research convenience, and in practical application, the above initial points are determined by target data provided by the radar, and for each target, the coordinates of the two points before and after the target are recorded as input values):

startP1＝[-775.2428,-2898.1026]；endP1＝[-752.3875,-2862.8065]；

startP2＝[2712.0740,-1282.4408]；endP2＝[2689.7474,-1235.6613]；

startP3＝[-1119.7479,-2783.1932]；endP3＝[-1107.7785,-2744.8911]；

startP4＝[2298.6736,-1927.7188]；endP4＝[2264.7517,-1905.9118]；

startP5＝[-2885.4767,820.9899]；endP5＝[-2845.3506,815.8308]；

according to the above equations (2) and (4), the intersection value is calculated as:

from the determinant, referring to fig. 4, it can be seen that the drone target M₁And laser weapon S₁Laser S₂With points of intersection, and drone target M₂With laser weapons only₂With intersection, unmanned aerial vehicle target M₃Passing only laser weapons₁Strike scope, unmanned aerial vehicle target M₄Successively passing through laser weapon S₁And S₃Effective strike range of, and drone target M₅The effective striking range of the three laser weapons is traversed.

Recording the flight time and speed information of the unmanned aerial vehicle target to calculate the time when the unmanned aerial vehicle enters and exits the effective striking range of the laser weapon:

according to a uniform time reference t_iRecording each unmanned aerial vehicle target M₁、M₂、M₃、M₄、M₅The earliest time to enter the effective detection zone of the radar is:

let t₀0, the specific moment when each drone target enters the effective detection zone of the radar may represent:

unit is s

Note down the instantaneous velocity of each drone target at the point when it enters the radar's active detection zone, which can be expressed in matrix form as:

e.g. t₀The instantaneous speed values of each unmanned aerial vehicle target at any moment are as follows:

accordingly, the generated intersection set coordinates are:

each element in the matrix of intersection set coordinates represents 1-2 intersections of a target with a laser object, and 0 represents no intersection. If the two intersection points coincide, the trajectory is tangent to the circle, and has no striking meaning in practice, so that the intersection point is considered to be absent.

During the flight of the drone target, its position P is constantly changing. Generally, a target point where an unmanned aerial vehicle target is located may go through a process of out-of-detection (attack) range-in-detection (attack) range-out-of-detection (attack) range, which may affect a calculation result of task assignment. Irrelevant points can be filtered out by determining the relationship between the coordinates of the current position of the unmanned aerial vehicle target and the real-time solution of the coordinates of the intersection point, and replacing the irrelevant points in real time, specifically, the replacement strategy can be as follows:

1) the point where the target position of the unmanned aerial vehicle is located is outside the effective hitting range of the laser weapon, and the intersection point coordinate obtained through calculation is used;

2) and replacing the calculated intersection point coordinates with the coordinates of the point at the current position when the point at which the target position of the unmanned aerial vehicle is located is within the effective hitting range of the laser weapon.

Specifically, the coordinates of the point at which the current position P of the drone target is located may be substituted into the corresponding circular equation (x-a)_j)²+(y-b_j)²＝R²(i is more than or equal to 1 and less than or equal to n, n is a positive integer), if the value of the radius R obtained by calculation is less than the radius R of the effective striking range of the laser weapon_jIf the current position P of the unmanned aerial vehicle target is in the circle, the point corresponding to the current position P may be used to replace a point corresponding to a solution of an equation set formed by a linear equation and a circular equation. Further, a specific method of replacing a certain point may include: let the linear equation be the equation determined by the coordinate data of two points before and after the unmanned aerial vehicle target's motion trajectory, as above equation (2). Let two intersections of the straight line and the circle be p₁(x₁,y₁)、p₂(x₂,y₂) Let P be P (x, y) as the point where P is located, and sum the signs of P (x, y) with (x-x)₁) Or (y-y)₁) Comparing the sign of P (x, y) with (x-x)₂) Or (y-y)₂) If the signs are consistent, the corresponding intersection point p is compared_iAnd (i is 1 or 2), discarding, and replacing the discarded intersection point with the point P (x, y) of the current position, and if the signs are not consistent, performing subsequent calculation by using the original intersection point.

After determining two points (original intersection points or points after replacement), the instantaneous speed at each point of each drone target is

In this case, the distance d and the time of flight t from the point at which the current position of the drone target is obtained to the two points may be calculated as:

the data of the distance d and the flight time t are calculated when the current point is out of the effective hitting range of the laser weaponAnd (4) obtaining the product. In this case, the current point has a distance and a flight time with respect to each of two intersections of the effective striking range of the laser weapon. Wherein each element in the above matrix represents the distance and time of flight for an unmanned aerial vehicle target to reach two intersections of the linear equation and the circular equation, e.g. the element

Middle 2428.7077 and 75.8971 indicate that the current point P (x, y) reaches the first intersection point P, respectively₁(x₁,y₁) 3195.7737 and 99.8679 respectively indicate that the current point P (x, y) reaches the second intersection point P₂(x₂,y₂) Distance and time of flight.

The time when different targets enter the monitoring area is set as follows:

the unit is s.

When the time values are unified to the same time reference, the time part in the above formula is expressed as (the second column of each matrix element corresponds to the unified time value):

considering only time, regardless of distance, the above equation can be simplified to a time matrix (two values in each matrix element represent two uniform time values):

the numerical values in each element in the above formula indicate the starting time (starting time) and the ending time (ending time) of a certain unmanned target passing through the effective striking range of the laser weapon, and then the matrix of the time window of the certain unmanned target passing through the effective striking range of the certain laser weapon is obtained according to the above formula as follows:

for each laser weapon, the drone target to be struck has been determined, and the drone targets are sorted by the starting time of entering the laser strike range, which can be obtained (expressed as starting time and ending time):

and completing basic task allocation according to the starting time, the ending time and the time window obtained by the calculation. For each laser percussion unit, the percussion task allocation can be decided according to the following auxiliary information provided by the command control system:

1) a transit target number;

2) starting time and ending time of each target crossing;

3) sequencing the transit of each target;

4) each target transit time window.

Under the condition that a person is in a loop, the operation pilot can autonomously decide a corresponding strategy of hitting down, bruising or hitting a certain target according to the transit target prediction, or can automatically decide a task distribution strategy and a hitting strategy through data comparison.

For a laser weapon, the unmanned aerial vehicle targets can be sorted according to the starting time (starting time) and the ending time (ending time) of each unmanned aerial vehicle target, and then the sequence of the unmanned aerial vehicle targets is adjusted according to the time required by striking and the time window, and striking tasks are distributed.

Assuming that the hitting time of each drone in the isomorphic drones is the same, the method for sorting the drone targets i (i is greater than or equal to 1 and less than or equal to m, and i is a positive integer) may include:

1) firstly according to the transit starting time t_i0Sequencing the data;

2) if t₁₀、t₂₀、······、t_m0Two in the middleIf the time of one or more transit starting points is the same, sequencing is carried out according to transit ending point time in sequence, so that the shortest time window can be arranged in front;

3) and if the transit starting time, the transit ending time and the striking time window of the multiple unmanned aerial vehicle targets are completely the same, randomly sequencing.

Fig. 5 is a schematic diagram of sorting time windows of drone targets in an embodiment of the invention. Referring to fig. 5, for a laser weapon, the time windows of all drone targets that it may strike may have the following relationships:

1) the starting time is identical to the ending time, as shown in FIG. 5 for target 1 and target 2;

2) the starting time is the same, and the ending time is different, as shown in fig. 5, object 2 and object 3;

3) the starting time and the ending time are different (or the ending time is the same), and the starting time and the ending time are partially overlapped, such as an object 3 and an object 4 in fig. 5;

4) the starting time and the ending time are different, but the previous target time window covers the next target time window, such as target 4 and target 5 in fig. 5;

5) the starting time and the ending time are different, and the ending time of the previous target is less than the starting time of the next target, and the two times are not overlapped, such as target 5 and target 6 in fig. 5.

The timing relationship between all targets can be covered in the above 5 cases. In general, the starting time and the ending time are different.

For m targets of a certain laser weapon, which have completed sorting, the allocation method may include:

let the starting time and the ending time of the ith unmanned aerial vehicle target be denoted as t_i0And t_i1Where the time required for striking of each drone in a homogenous drone is denoted as T, the start time and end time of the drone target 1 may be denoted as T₁₀And t₁₁。

(1) For the starting time t_i0And end time t_i1Exactly the same thing, i.e. t₁₀＝t₂₀And t is₁₁＝t₂₁

If t₁₀+T≤t₁₁Specifically, two cases can be classified: one is, t₁₀+T≤t₁₀+(t₁₁-t₁₀) /2 or t₁₀+T≤t₂₁-T (as shown in FIG. 6), and the other is T₁₁≥t₁₀+T＞t₁₀+(t₁₁-t₁₀) And/2 (as shown in FIG. 7).

For the former case, target 1 and target 2 both have sufficient time to be hit down, and may be considered, then the target 1 time window may be assigned as (t)₁₀,t₁₀+ T), the start time of the striking time window of the target 2 may be temporarily determined as T₂₀＝t₁₀+ T, the termination time may be determined temporarily as T₂₁. For the latter case, object 1 and object 2 both have enough time to be knocked down, but not both, then object 1 allocation is completed preferentially according to the priority principle of ordering, and the time window is (t)₁₀,t₁₀+ T), the start time of the striking time window of the target 2 may also be determined temporarily as T₂₀＝t₁₀+ T, the termination time may also be determined temporarily as T₂₁. In the case where there are other targets after target 2, may be (t)₁₀+T,t₂₁) As an initial value of the striking time window of the target 2, for comparison with the maximum striking time window after the target 2. If target 2 is the last target, then target 2's hit time window is assigned as (t)₁₀+T,t₂₁) The task of hitting the target 2 is assigned, in which case the target 2 can be hit down for the former case and only the target 2 can be hit damaged for the latter case.

If t₁₀+T＞t₁₁While t is₂₀+T＞t₂₁(see fig. 8) showing that the

targets

1 and 2 can only be wounded. If the target 2 is the last target, striking can be performed by selecting one target from the

targets

1 and 2; if the target 2 is not the last target, the subsequent targets and the target 2 are in the same state under extreme conditions, all targets cannot be knocked down, and only one target can be selected from a plurality of targetsOne of the above-mentioned injuries; in non-extreme cases, target 1 may be discarded and the start time of target 2 temporarily determined as t₂₀The strike time window is temporarily determined as (t)₂₀,t₂₁) And forming new target 1 and target 2 by the maximum striking time window of the target 3, entering the next loop, comparing the time windows and determining a time window distribution strategy.

(2) For the starting time t_i0Same, end time t_i1In a different case, i.e. t₁₀＝t₂₀And t is₁₁≠t₂₁

If t₁₀+T≤t₁₁And t is₂₀+T≤t₂₁Specifically, two cases can be classified: one is, t₂₁-T≥t₁₀+ T (as shown in FIG. 9), and, alternatively, T₂₁-T＜t₁₀+ T (as shown in FIG. 10).

For the former case, object 1 and object 2 both have enough time to be knocked down and can be considered, then object 1 completes the assignment, and the time window is (t)₁₀,t₁₀+ T), the start time of the hit time window of the target 2 (distribution start time) may be determined temporarily T₂₀＝t₁₀+ T, the termination time may be determined temporarily as T₂₁。

For the latter case, object 1 and object 2 both have enough time to be knocked down, but not both, then object 1 allocation is preferentially completed according to the priority principle of ordering, and the time window is (t)₁₀,t₁₀+ T), the starting moment of the striking time window of the target 2 may also be determined temporarily for T₂₀＝t₁₀+ T, the termination time may also be determined temporarily as T₂₁。

For both cases, in the case where there is another target after target 2, it may be represented by (t)₁₀+T,t₂₁) As an initial value of the striking time window of the target 2, for comparison with the maximum striking time window after the target 2. If target 2 is the last target, then target 2's hit time window is assigned as (t)₁₀+T,t₂₁) The task of hitting target 2 is assigned, in which case target 2 can be assigned to the former caseCan be knocked down, in the latter case the target 2 can only be wounded.

If t₁₀+T＞t₁₁And t is₂₀+T≤t₂₁(as shown in fig. 11), if the target 1 can only be wounded and the target 2 can be knocked down, the allocation priority of the target 1 can be reduced, the

targets

2 and 1 are switched in position, then the target 2 allocation is completed first according to the benefit maximization principle, and the hitting time window allocation of the target 2 is (t) t₂₀,t₂₀+ T). In the case where target 1 and target 2 are two of the homogeneous drones, due to t₂₀+T＝t₁₀+T>t₁₁So there is no time left to strike the target 1 after striking the target 2, so the target 1 can be discarded.

In the case where the target 1 and the target 2 belong to heterogeneous drones, the striking time required for the two may be different if t₂₀+T₂≤t₁₁Then the original target 1 can be used as target 2 to participate in the next task distribution. The start time of the striking time window of the new target 2 may be temporarily determined as t₂₀+T₂The termination time may be temporarily determined as t₁₁. If the new target 2 is the last target, the strike time window for the new target 2 is assigned as (t)₂₀+T₂，t₁₁) Target 2 completes the allocation and new target 2 can only strive for the blast, where T₂Is the time required for the striking of the object 2.

In the case where target 1 and target 2 belong to heterogeneous drones, there may be a number t₁₀+T₁≤t₁₁And t is₂₀+T₂＞t₂₁(as shown in FIG. 12), where T₁Is the time required for the striking of the object 1. Target 1 has enough time to be knocked down, while target 2 can only be wounded, so target 1 is first assigned a time window of (t)₁₀,t₁₀+T₁) The target 2 is discarded or selected to be damaged for the remaining time, and the starting time of the target 2 is temporarily determined as t₁₀+T₁. If goal 2 is the last goal, then goal 2 completes the allocation (t)₁₀+T₁,t₂₁)。

③ if t₁₀+T＞t₁₁And t is₂₀+T＞t₂₁(as shown in fig. 13), it is explained that neither object 1 nor object 2 has enough time to be hit down, and both objects can only be hit, so that both may be discarded or may be selected to be hit. If the bruising is selected, sorting the bruised materials according to the original sorting rule and the long transit time. Calculating the ratio of the available time to the required time, i.e. eta_i＝(t_i1-t_i0)/(t_i0+ T), the closer the value obtained is to 1, the longer the available effective time, the higher the damage level, and the more preferential assignment is required. Thus, target 2 with η closer to 1 has more hit value if the hit time window of target 2 is preferentially assigned as (t)₂₀，t₂₁). At this time, according to the transit time relationship, the transit time of the object 1 is already finished, no longer has the significance of distribution, and can only be discarded, so that the starting time of the object 2 is t₂₀. There may be a risk here that if both target 2 and target 3, and subsequent targets, are the case, the system will fall into an inefficient cycle of benefit, losing all opportunities to hit the target. To avoid this risk, if target 2 is not the last target, then the benefit maximization principle may be sacrificed, with target 1 being preferentially assigned a strike time window of (t)₁₀，t₁₁) Time of start of target 2 t₁₁. If object 2 is the last object, object 2 is preferentially allocated according to the effective strike time, and object 2 finishes allocating the strike time window as (t)₂₀，t₂₁) Target 1 is discarded.

(3) For the starting time t_i0And end time t_i1All different and the time windows partially overlap, i.e. t₁₀≠t₂₀、t₁₁≠t₂₁And t is₁₁≥t₂₀

If t₁₁≥t₁₀+ T (as shown in fig. 14), which indicates that the transit time of the target 1 is sufficient, the countermeasure system has sufficient time to hit the target 1, and at this time, more specifically, there are several cases:

first, if t₂₀≥t₁₀+ T (as shown in FIG. 15), indicating that the transit time of object 1 is sufficient, the system has enough time to hit the object1, so the hit time window of target 1 can be directly assigned as (t)₁₀,t₁₀+ T), target 2 has an allocable start time of T₂₀(ii) a If target 2 is the last target, then whether target 2 can be struck or knocked down, the assignment can be done with a striking time window of (t)₂₀，t₂₁)。

Second, if t₂₀＜t₁₀+ T (as shown in FIG. 16), the strike time window for the priority assignment target 1 is (T)₁₀,t₁₀+ T), to ensure that target 1 has enough time to be knocked down. Target 2 front time can not participate in allocation any more, and the starting time becomes t₁₀+ T; if object 2 is the last object, object 2 completes the assignment with a strike time window of (t)₁₀+T，t₂₁)。

If t₁₁＜t₁₀+ T (as shown in fig. 17) indicates that the transit time of the target 1 is insufficient, and the system has insufficient time to hit the target 1, and can only hit or give up. Then the allocation policy for target 1 is:

first, if target 1 is chosen to be discarded, then the time allocated to target 2 starts from its own time t₂₀And (4) calculating.

Secondly, if the target 1 is selected, the attack time is analyzed by the starting time t of the target 2₂₀And target 1 end time t₁₁The relationship (2) of (c). If t₂₀≥t₁₁(as shown in fig. 18), it is described that the starting time of the target 2 does not affect the strike window of the target 1, the target 1 still has two options of abandoning and strike, when strike is selected, the strike window of the target 1 is the transit time, and the strike time window of the target 1 is assigned as (t)₁₀,t₁₁) While the striking start time of the object 2 is still from the self start time t₂₀And (4) calculating. However, only t is satisfied here₁₁≥t₂₀(as shown in fig. 19), it is explained that the allocable time of the target 1 is occupied again, and the target 1 can be optionally discarded, and when selecting the bruising, the hitting window also needs to consider the situation of the target 2: a) if t₂₁-T≥t₁₁(see FIG. 20), which shows that after the target 1 is hit with full force, the target 2 still has enough time to be hit down, so the target 1 hitsHit window assignment of (t)₁₀,t₁₀+ T), the starting time of target 2 is T₁₁If goal 2 is the last goal, then the allocation is complete (t)₁₁，t₂₁) When target 1 is selected to be discarded, the time of the start of target 2 is t₂₀If goal 2 is the last goal, then the allocation is complete (t)₂₀，t₂₁) (ii) a b) If t₂₀≤t₂₁-T＜t₁₁(see fig. 21), it is explained that if the target 1 is hit with full force, the target 2 is changed from knock-down to hit only, and in order to ensure the maximum benefit principle, the hitting effect of the target 2 needs to be ensured, so the allocation time of the target 1 is only (t)₁₀,t₂₁-T), the starting time of the object 2 being T₂₁-T, if target 2 is the last target, target 2 finishes assigning a strike time window of (T)₂₁-T，t₂₁). If the target 1 is abandoned, the starting time of the target 2 is t₂₀If target 2 is the last target, target 2 finishes assigning a strike time window of (t)₂₀，t₂₁) (ii) a c) If t₂₁-T＜t₂₀(see FIG. 22) indicating that both target 1 and target 2 can only be struck, in which case target 1 strike time window is first assigned as (t)₁₀,t₁₁) Time of start of target 2 t₁₁If target 2 is the last target, target 2 finishes assigning a strike time window of (t)₁₁，t₂₁). From this, it can be considered that the allocation of the target 1 is completed, and if the target 2 is not the last target, the subsequent target 2 replaces the position of the target 1 to form a new target 1 with the next target, and the target 2 enters a new cycle.

(4) For the starting time t_i0And end time t_i1All different and the time window has an inclusion relation, i.e. t₁₀<t₂₀And t is₁₁>t₂₁

The timing has an inclusive relationship case, i.e., a relationship between the target 4 and the target 5 as in fig. 5. According to the time-series arrangement rule, it can be ensured that the target 4 covers the target 5, and no target 5 is arranged before the target 4. In the following discussion, the discussion is still directed to target 1, target 2.

If t₂₀≥t₁₀+ T (as shown in FIG. 23), which indicates that the transit time of object 1 is sufficient, and there is enough time to hit object 1 first and then hit object 2, without affecting the task allocation of object 2, so the start time of object 2 is still from T₂₀Starting; if object 2 is the last object, object 2 completes assigning a strike time window of (t)₂₀，t₂₁)。

If t₂₀＜t₁₀+T＜t₂₁(as shown in FIG. 24), which illustrates that target 1 has not yet been completely hit, target 2 has already entered the hit range, and how to assign the two targets, in several cases:

first, t is₂₁-T≥t₁₀+ T (as shown in FIG. 25), which indicates that the transit time of object 2 is enough to be knocked down and that both are knocked down, then the time window of object 1 is assigned as (T)₁₀,t₁₀+ T) and the starting time of target 2 is T₁₀+ T; if object 2 is the last object, object 2 completes assigning a strike time window of (t)₁₀+T，t₂₁)。

Second, t is₂₀≤t₂₁-T＜t₁₀+ T (as shown in fig. 26) indicates that the transit time of object 2 is sufficient to be knocked down, but cannot be knocked down simultaneously with object 1. Considering that the transit time of target 1 is long and there is more time margin to allocate, the following is analyzed: t is t₂₀+T≤t₁₁T (as shown in fig. 27), which illustrates that in this case, object 1 and object 2 can be compatible, but object 1 needs to occupy the second half of the time, so in this case, object 1 and object 2 exchange the order, and object 2 hit windows are allocated first (T &)₂₀,t₂₀+ T), the original target 1 is set as the new target 2, and the starting time and the ending time are (T)₂₀+T，t₁₁) New start time becomes t₂₀+ T, if the new target 2 is the last target, the new target 2 finishes assigning a strike time window of (T)₂₀+T，t₁₁)；t₂₁≥t₂₀+T＞t₁₁T (as shown in FIG. 28), indicating that target 1 and target 2 cannot both hit simultaneously, in which case operator action is requiredIn consideration of the psychological change of the operator and the abundance of the striking time, the target with the longest transit time is selected to strike, and the target with the short transit time is sacrificed. That is, target 1 is assigned a time window of (t)₁₀,t₁₀+ T), the target 2 has become a non-knockdown target, and the starting time of the target 2 is T₁₀+ T, with a time window of (T)₁₀+T，t₂₁). If target 2 is the last target, target 2 completes the assignment of the time window of (t)₂₀+T，t₂₁)。

③ if t₂₁＜t₁₀+T≤t₁₁(as shown in fig. 29), it is shown that the transit time of target 1 is sufficient, there is enough time to complete the hit of target 1, but its hit window occupies all the transit time of target 2, and target 2 can only be hit, which requires some strategic choice, i.e. abandoning the task allocation of target 2: if the target 3 exists behind the target, the target 1 and the target 3 form a new target 1 and a new target 2 to complete task distribution; if there is no target 3 behind, i.e., target 2 is the last target, only hit target 1 is assigned and target 2 is discarded.

If t₁₁＜t₁₀+ T (as shown in fig. 30) indicates that the transit time of target 1 is insufficient and only wounding is possible, but its hitting window occupies all the transit time of target 2. Since the transit time of the target 1 covers the transit time of the target 2, and the hit time of the target 1 is not enough to hit down the target, the target 2 is less likely to be hit down and can only be hit, and the effective time is shorter than that of the target 1. The object 2 is therefore directly abandoned in view of the psychological activities and the effective time of the operator. If the target 2 is the last target, the striking time window of the striking target 1 is selected to be (t)₁₀,t₁₁) (ii) a If object 2 is not the last object, then the current object 1 and the subsequent object 3 constitute new object 1 and object 2, and the next cycle is performed.

(5) For the starting time t_i0And end time t_i1All different and the time windows have no overlapping relationship, i.e. t₂₀>t₁₁

Two targets before and after having no overlapping relation in time window, whichThe task allocation is not affected, no matter t of target 1₁₀+ T being greater than T₁₁Or less than t₁₁Without affecting the starting time t of the object 2₂₀。

If t₁₀+T≤t₁₁(as shown in FIG. 31), when there is enough time to hit target 1, the time allocation for target 1 is (t)₁₀,t₁₀+ T) and can be further broadened to (T) without affecting target 2₂₀，t₂₁) (ii) a If object 2 is the last object, then the completion object 2 is assigned a strike time window assignment of (t)₂₀，t₂₁)。

If t₁₀+T＞t₁₁(see FIG. 32), indicating that there is not enough time to hit down target 1, and only to hit the injury, the time allocation for target 1 is (t)₁₀,t₁₁) Without affecting the target 2, the starting time of the target 2 is still t₂₀. If goal 2 is the last goal, then goal 2 allocation is complete (t)₂₀，t₂₁)。

Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method described in the above embodiments.

The embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the method described in the above embodiment are implemented.

In summary, the task allocation method, the computer-readable storage medium, and the computer device for the anti-homogeneous unmanned aerial vehicle according to the embodiments of the present invention can fully utilize laser weapon resources and improve the impact benefits on the homogeneous unmanned aerial vehicle.

In the description herein, reference to the description of the terms "one embodiment," "a particular embodiment," "some embodiments," "for example," "an example," "a particular example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The sequence of steps involved in the various embodiments is provided to schematically illustrate the practice of the invention, and the sequence of steps is not limited and can be suitably adjusted as desired.

The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A task allocation method for anti-isomorphic unmanned aerial vehicles is characterized by comprising the following steps:

acquiring position information of at least two points on the motion trail of each unmanned aerial vehicle target in the isomorphic unmanned aerial vehicle;

determining an equation of a corresponding motion track of the unmanned aerial vehicle target according to the position information of the at least two points;

calculating intersection point position information of the corresponding motion trail of the unmanned aerial vehicle target and the effective striking range of the laser weapon according to the equation of the motion trail of the unmanned aerial vehicle target and the equation of the effective striking range of the laser weapon;

calculating the time when the unmanned aerial vehicle target enters the effective striking range and the time when the unmanned aerial vehicle target leaves the effective striking range according to the intersection point position information and the corresponding detected time and the detected time of the unmanned aerial vehicle target;

sequencing the unmanned aerial vehicle targets from morning to evening according to the time when the unmanned aerial vehicle targets enter the effective striking range, and sequencing the unmanned aerial vehicle targets which enter the effective striking range at the same time according to the time when the unmanned aerial vehicle targets leave the effective striking range; under the condition that the moment when the unmanned aerial vehicle target enters the effective striking range is the same as the moment when the unmanned aerial vehicle target leaves the effective striking range, namely the striking time windows of the unmanned aerial vehicles are completely the same, randomly sequencing;

according to the principle of maximum striking benefit, sequentially determining the striking sequence and striking time window of each sequenced unmanned aerial vehicle target in a mode of carrying out distribution priority comparison in pairs according to the moment of entering the effective striking range, the moment of leaving the effective striking range and the time required by striking the unmanned aerial vehicle target;

and distributing the task of striking the isomorphic unmanned aerial vehicle to the laser weapon according to the struck sequence and the striking time window of each unmanned aerial vehicle target.

2. The task allocation method for anti-homogeneous drones according to claim 1, wherein determining the equation of the motion trajectory of the drone target according to the position information of the at least two points comprises:

and determining a linear equation according to the position information of the at least two points, wherein the linear equation is used as a corresponding equation of the motion track of the unmanned aerial vehicle target.

3. The task allocation method for anti-isomorphic drones as claimed in claim 2, wherein calculating the position information of the intersection point of the corresponding trajectory of the drone target and the effective strike range of the laser weapon according to the equation of the trajectory of the drone target and the equation of the effective strike range of the laser weapon comprises:

and solving an equation set formed by the linear equation and a circular equation corresponding to the maximum effective striking range of the laser weapon to obtain the intersection point position information of the corresponding motion track of the unmanned aerial vehicle target and the effective striking range of the laser weapon.

4. The method of claim 1, wherein calculating the time at which the drone target enters the effective range of attack and before the time at which the drone target leaves the effective range of attack based on the intersection location information and the corresponding detected time and detected velocity of the drone target further comprises:

and judging whether the current position of the unmanned aerial vehicle target is within the effective striking range of the laser weapon, and if so, updating the position information of the intersection point when entering the effective striking range of the laser weapon in the intersection point position information into the information of the current position of the unmanned aerial vehicle target.

5. The task allocation method of anti-homogeneous unmanned aerial vehicles according to claim 1, wherein the method for sequentially determining the sequence of the sequenced targets and the time window of striking according to the time of entering the effective striking range, the time of leaving the effective striking range and the time required for striking the targets of the unmanned aerial vehicles by comparing the distribution priorities in pairs according to the principle of maximizing the striking benefits comprises:

comparing the time t of the first unmanned aerial vehicle target in the sorted unmanned aerial vehicle targets entering the effective striking range₁₀A time t of a second unmanned aerial vehicle target of the sorted unmanned aerial vehicle targets entering the effective striking range₂₀Time t of departure of the first drone target from the effective range of attack₁₁And the time t when the second unmanned aerial vehicle target leaves the effective striking range₂₁To determine a relationship between the maximum striking time window of the first drone target and the maximum striking time window of the second drone target; said first drone target is ranked ahead of said second drone target;

according to the comparison result, according to the principle of maximum striking benefit, according to the time t of the first unmanned aerial vehicle target entering the effective striking range₁₀The time t when the second unmanned aerial vehicle target enters the effective striking range₂₀The first drone targetTime t of leaving the effective striking range₁₁Time t of departure of the second drone target from the effective range of attack₂₁Determining the striking sequence and the striking time window of the first unmanned aerial vehicle target and the second unmanned aerial vehicle target.

6. The method of claim 5, wherein determining the sequence of striking the first drone target and the second drone target and the striking time window according to the time of entering the effective striking range, the time of leaving the effective striking range, and the time required for striking the drone target according to the comparison result and the principle of maximizing striking benefit comprises:

at t₁₀＝t₂₀And t is₁₁＝t₂₁In the case of (2):

if t₁₀+T≤t₁₁Then confirming that the first drone target has a higher allocation priority than the second drone target and allocating the first drone target's strike time window as (t:)₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₁₀+ T, temporarily determining the end time in the striking time window of the second drone target as T₂₁(ii) a Wherein T is the time required for each unmanned aerial vehicle target to be struck;

if t₁₀+T＞t₁₁: if the second drone target is not the last drone target of the sequenced drone targets, relinquishing allocation of the first drone target and temporarily determining the starting time in the striking time window of the second drone target as t₂₀Temporarily determining the end time in the striking time window of the second drone target as t₂₁(ii) a If the second drone target is the last drone target in the sequenced drone targetsAssigning a strike time window of one of said first drone target and said second drone target as (t)₁₀,t₁₁) And abandoning the allocation of another;

at t₁₀＝t₂₀And t is₁₁≠t₂₁In the case of (2):

if t₁₀+T≤t₁₁And t is₂₀+T≤t₂₁Then confirming that the first drone target has a higher allocation priority than the second drone target and allocating the first drone target's strike time window as (t:)₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₁₀+ T, temporarily determining the end time in the striking time window of the second drone target as T₂₁；

If t₁₀+T＞t₁₁And t is₂₀+T≤t₂₁Assigning a strike time window of said second drone target as (t)₂₀,t₂₀+ T), forgoing allocation of said first drone target;

if t₁₀+T＞t₁₁And t is₂₀+T＞t₂₁If the second drone target is not the last one of the sequenced drone targets, then t will be₁₁And t₂₁The striking time window of the unmanned aerial vehicle target corresponding to the smaller of the two is allocated as t₁₀，t₁₁And t₂₁The smaller of t is₁₁And t₂₁The starting moment of the striking time window of the unmanned aerial vehicle target corresponding to the larger one of the target is temporarily determined as t₁₁And t₂₁The smaller of t is₁₁And t₂₁The end time of the striking time window of the unmanned aerial vehicle target corresponding to the larger one of the target is temporarily determined as t₂₁(ii) a If the second drone target is the last drone target of the sequenced drone targets, then t is added₁₁And t₂₁The striking time window of the unmanned aerial vehicle target corresponding to the larger of the two is allocated as t₁₀，t₁₁And t₂₁The larger of them, and abandon the allocationt₁₁And t₂₁The smaller of the two unmanned aerial vehicle targets corresponds to;

at t₁₀≠t₂₀、t₁₁≠t₂₁And t is₁₁≥t₂₀In the case of (2):

if t₁₁≥t₁₀+ T: if t is₂₀≥t₁₀+ T, then confirm that the first drone target has a priority of assignment over the second drone target, and assign the first drone target's strike time window to be (T)₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₂₀Temporarily determining the end time in the striking time window of the second drone target as t₂₁(ii) a If t is₂₀＜t₁₀+ T, then confirm that the first drone target has a priority of assignment over the second drone target, and assign the first drone target's strike time window to be (T)₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₁₀+ T, temporarily determining the end time in the striking time window of the second drone target as T₂₁；

If t₁₁＜t₁₀+ T: if t is₂₁-T≥t₁₁Determining that the first drone target has a higher allocation priority than the second drone target, and assigning the first drone target's strike time window to be (t [)₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₁₁Temporarily determining the end time in the striking time window of the second drone target as t₂₁Or, abandoning the allocation of the first drone target and temporarily determining the start time in the striking time window of the second drone target as t₂₀Temporarily determining the end time in the striking time window of the second drone target as t₂₁(ii) a If t is₂₀≤t₂₁-T＜t₁₁Confirming said firstAssigning an individual drone target a higher priority than the second drone target and assigning the strike time window of the first drone target to be (t)₁₀,t₂₁-T), temporarily determining a starting instant in a striking time window of said second drone target as T₂₁-T, temporarily determining the end instant in the striking time window of said second drone target as T₂₁Or, abandoning the allocation of the first drone target and temporarily determining the start time in the striking time window of the second drone target as t₂₀Temporarily determining the end time in the striking time window of the second drone target as t₂₁(ii) a If t is₂₁-T＜t₂₀Determining that the first drone target has a higher allocation priority than the second drone target, and assigning the first drone target's strike time window to be (t [)₁₀,t₁₁) Temporarily determining a starting time in a striking time window of the second drone target as t₁₁Temporarily determining the end time in the striking time window of the second drone target as t₂₁；

At t₁₀<t₂₀And t is₁₁>t₂₁In the case of (2):

if t₂₀≥t₁₀+ T, confirming that the first drone target has a priority of assignment over the second drone target, and assigning the first drone target's strike time window to be (T [) ]₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₂₀Temporarily determining the end time in the striking time window of the second drone target as t₂₁；

If t₂₀＜t₁₀+T＜t₂₁: if t is₂₁-T≥t₁₀+ T, then confirm that the first drone target has a priority of assignment over the second drone target, and assign the first drone target's strike time window to be (T)₁₀,t₁₀+ T), the second unmanned plane meshThe starting time in the target striking time window is temporarily determined as t₁₀+ T, temporarily determining the end time in the striking time window of the second drone target as T₂₁(ii) a If t is₂₀≤t₂₁-T＜t₁₀+T，t₂₀+T≤t₁₁-Tj, then confirming that the second drone target has a priority of assignment over the first drone target, and assigning the second drone target's strike time window as (T [) ]₂₀,t₂₀+ T), temporarily determining as T the starting moment in the striking time window of said first drone target₂₀+ T, temporarily determining the end time in the striking time window of the second drone target as T₁₁，t₂₁≥t₂₀+T＞t₁₁-Tj, then confirming that said first drone target has a priority of assignment over said second drone target, and assigning said first drone target's strike time window as (T [) ]₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₁₀+ T, temporarily determining the end time in the striking time window of the second drone target as T₂₁；

If t₂₁＜t₁₀+T≤t₁₁Or t₁₁＜t₁₀+ T, abandoning the allocation of the second drone target, temporarily determining the starting moment in the striking time window of the first drone target as T₁₀Temporarily determining the end time in the striking time window of the first drone target as t₁₁；

At t₂₀>t₁₁In the case of (2):

if t₁₀+T≤t₁₁Determining that the first drone target has a higher allocation priority than the second drone target, and assigning the first drone target's strike time window to be (t [)₁₀,t₁₀+ T), temporarily determining the starting moment in the striking time window of the second drone target as T₂₀The second unmanned aerial vehicle target is hit in the time windowIs temporarily determined as t₂₁；

If t₁₀+T＞t₁₁Determining that the first drone target has a higher allocation priority than the second drone target, and assigning the first drone target's strike time window to be (t [)₁₀,t₁₁) Temporarily determining a starting time in a striking time window of the second drone target as t₂₀Temporarily determining the end time in the striking time window of the second drone target as t₂₁。

7. The method of claim 6, wherein the determining the sequence of striking the first drone target and the second drone target and the striking time window according to the time of entering the effective striking range, the time of leaving the effective striking range, and the time required for striking the drone target according to the comparison result and the principle of maximizing striking benefit further comprises:

8. The task allocation method of anti-homogeneous drones according to claim 1,

the number of the laser weapons is multiple; and/or

The detected time is the time when the unmanned aerial vehicle enters a radar detection range, and the detected time speed is the instantaneous speed of the unmanned aerial vehicle target when the unmanned aerial vehicle enters the radar detection range.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.

10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 8 are implemented when the program is executed by the processor.