CN110134139A - The tactical decision method and apparatus that unmanned plane is formed into columns under a kind of Antagonistic Environment - Google Patents
The tactical decision method and apparatus that unmanned plane is formed into columns under a kind of Antagonistic Environment Download PDFInfo
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Abstract
The present invention relates to unmanned plane countermeasure techniques field, the tactical decision method and apparatus that unmanned plane is formed into columns under a kind of Antagonistic Environment are disclosed.The tactical decision method and apparatus carry out tactful cutting by the second yuan of tactics set of strategies formed into columns to unmanned plane, reduce and calculates the time, the tactful payoff for the confrontation tactics strategy that the first unmanned plane is formed into columns and the second unmanned plane is formed into columns is calculated using the method for multi-level fusion, overall efficiency of the unmanned plane formation in the case where cooperateing with tactics is embodied, reasonably so as to rapidly provide optimal tactics strategy for unmanned plane formation.
Description
Technical field
The present invention relates to unmanned planes to fight technical field, and in particular, to the war that unmanned plane is formed into columns under a kind of Antagonistic Environment
Art decision-making technique and device.
Background technique
In existing confrontation tactical decision method, the tactical decision of formation rank is only merely simple target of attack point
Match, is unable to give full play the collaboration advantage of formation；Formation dominance of strategies value is also simple simply by the confrontation Superiority Value of single machine
It is added, cannot equally fully demonstrate the synergistic effect between unmanned plane, the reliability of Superiority Value is difficult to ensure.Therefore, considering
Under the premise of multiple no-manned plane cooperation, a kind of can quickly and efficiently form into columns for unmanned plane is provided, optimal tactical decision be provided
Method has Practical significance.
Summary of the invention
The object of the present invention is to provide the tactical decision method and apparatus that unmanned plane under a kind of Antagonistic Environment is formed into columns, the tactics
Decision-making technique quickly and efficiently can provide optimal war under the premise of considering multiple no-manned plane cooperation for unmanned plane formation
Art decision.
To achieve the goals above, on the one hand, the present invention provides the tactics that unmanned plane under a kind of Antagonistic Environment is formed into columns
Decision-making technique, it includes that the first unmanned plane formation fought and the second unmanned plane are formed into columns that unmanned plane, which is formed into columns, the tactical decision side
Method specifically includes: obtaining the first tactics set of strategies for the confrontation tactics that the first unmanned plane is formed into columns and the second unmanned plane is formed into columns, first tactics
Set of strategies includes first yuan of tactics set of strategies and second yuan of tactics set of strategies, and first yuan of tactics set of strategies includes multiple first yuan of war
Art strategy, the frame unmanned plane that first yuan of tactics strategy is defined as in the formation of the first unmanned plane are fought in the formation of the second unmanned plane
A frame unmanned plane, include multiple second yuan of tactics strategy in second yuan of tactics set of strategies, second yuan of tactics strategy is defined as
Two frame unmanned planes in the formation of first unmanned plane fight a frame unmanned plane or the formation of the first unmanned plane in the formation of the second unmanned plane
In a frame unmanned plane fight the second unmanned plane form into columns in two frame unmanned planes；Tactful sanction is carried out to second yuan of tactics set of strategies
It cuts, to delete second yuan of the part tactics strategy in second yuan of tactics set of strategies；Respectively from first yuan of tactics set of strategies and second
Several first yuan of tactics strategy and several second yuan of tactics strategy are selected in first tactics set of strategies, to obtain the first unmanned plane
The the first confrontation tactics strategy formed into columns, and then form the first confrontation tactics set of strategies that the first unmanned plane is formed into columns, first pair of war of resistance
It include multiple first confrontation tactics strategies in art set of strategies；Respectively from first yuan of tactics set of strategies and second yuan of tactics set of strategies
Several first yuan of tactics strategy and several second yuan of tactics strategy are selected, to obtain the second confrontation that the second unmanned plane is formed into columns
Tactics strategy, and then the second confrontation tactics set of strategies that the second unmanned plane is formed into columns is formed, include in the second confrontation tactics set of strategies
Multiple second confrontation tactics strategies；Obtain the state ginseng that the first unmanned plane is formed into columns with all unmanned planes in the formation of the second unmanned plane
Number, state parameter includes the real time position of unmanned plane, real-time flight angle, real-time speed and radar property parameters, guided missile category
Property parameter, radar property parameters include radar maximum search range, and guided missile property parameters include scope impact factor, guided missile
Maximum attack distance and guided missile can not region of escape maximum/minimum distances；According to the state parameter of unmanned plane, first pair of war of resistance is obtained
Each of art set of strategies first fights each in the tactful payoff and the second confrontation tactics set of strategies of tactics strategy
The tactful payoff of a second confrontation tactics strategy；According to the strategy branch of the first confrontation tactics strategy and the second confrontation tactics strategy
Value is paid, the gaming matrix that the first unmanned plane is formed into columns with the formation confrontation of the second unmanned plane is established；Calculate the Nash Equilibrium of gaming matrix
Solution, to obtain tactics strategy of the first unmanned plane formation in antagonistic process.
Preferably, tactful cutting is carried out to second yuan of tactics set of strategies, to delete the part in second yuan of tactics set of strategies
Second yuan of tactics strategy specifically includes: to grasping below any one second yuan of tactics strategy execution in second yuan of tactics set of strategies
Make: two of two frame unmanned planes during the first unmanned plane for obtaining second yuan of tactics strategy is formed into columns or the second unmanned plane is formed into columns are basic
Motor unit；Judge whether two elemental motion units and second yuan of tactics strategy meet consistency；Judging that two are moved substantially
Make unit and in the case that second yuan of tactics strategy is unable to satisfy consistency, deletes second yuan of tactics strategy.
Preferably, judge two elemental motions and whether second yuan of tactics strategy meets consistency, specifically include: obtaining the
All elemental motion units in binary tactics strategy, to form the elemental motion unit combination of second yuan of tactics strategy；Judgement
Two elemental motion units whether combined with elemental motion unit in elemental motion unit be overlapped；Judging two elemental motions
Unit combined with elemental motion unit in elemental motion unit be overlapped in the case where, judge two elemental motion units and second
First tactics strategy meets consistency.
Preferably, the tactful payoff of the first confrontation tactics strategy in the first confrontation tactics set of strategies is obtained, it is specific to wrap
It includes: according to the state parameter of unmanned plane, obtaining first yuan of tactics dominance of strategies value in the first confrontation tactics strategy；According to nothing
Man-machine state parameter obtains the frame in the first unmanned plane formation of second yuan of tactics strategy in the first confrontation tactics strategy
Unmanned plane is relative to another frame in the first Superiority Value of the unmanned plane in the formation of the second unmanned plane and the formation of the first unmanned plane
Unmanned plane relative to the second unmanned plane form into columns in unmanned plane the second Superiority Value or the second unmanned plane form into columns in a frame without
It is man-machine relative to the first unmanned plane form into columns in unmanned plane the first Superiority Value and the second unmanned plane form into columns in another frame without
Man-machine the second Superiority Value relative to the unmanned plane in the formation of the first unmanned plane；First Superiority Value and the second Superiority Value are merged,
Obtain second yuan of tactics dominance of strategies value in the first confrontation tactics strategy；First is fought all the in tactics strategy
Unitary tactics dominance of strategies value and second yuan of tactics dominance of strategies value are merged, and the branch of the first confrontation tactics strategy is obtained
Pay value.
On the other hand, the present invention also provides under a kind of Antagonistic Environment unmanned plane form into columns tactical decision device, nobody
It includes that the first unmanned plane formation fought and the second unmanned plane are formed into columns that machine, which is formed into columns, which includes processor,
Processor is configured as: obtaining the first tactics set of strategies for the confrontation tactics that the first unmanned plane is formed into columns and the second unmanned plane is formed into columns, member
Tactics set of strategies includes first yuan of tactics set of strategies and second yuan of tactics set of strategies, and first yuan of tactics set of strategies includes multiple first
First tactics strategy, the frame unmanned plane that first yuan of tactics strategy is defined as in the formation of the first unmanned plane are fought the second unmanned plane and are compiled
A frame unmanned plane in team, includes multiple second yuan of tactics strategy in second yuan of tactics set of strategies, and second yuan of tactics strategy is determined
Justice is a frame unmanned plane or the first unmanned plane during two frame unmanned planes the second unmanned plane of battle during the first unmanned plane is formed into columns is formed into columns
A frame unmanned plane in formation fights two frame unmanned planes in the formation of the second unmanned plane；Strategy is carried out to second yuan of tactics set of strategies
It cuts, to delete second yuan of the part tactics strategy in second yuan of tactics set of strategies；Respectively from first yuan of tactics set of strategies and
Several first yuan of tactics strategy and several second yuan of tactics strategy are selected in binary tactics set of strategies, with obtain first nobody
The first confrontation tactics strategy that machine is formed into columns, and then form the first confrontation tactics set of strategies that the first unmanned plane is formed into columns, the first confrontation
It include multiple first confrontation tactics strategies in tactics set of strategies；Respectively from first yuan of tactics set of strategies and second yuan of tactics set of strategies
Middle several first yuan of tactics strategy of selection and several second yuan of tactics strategy, to obtain second pair of the formation of the second unmanned plane
War of resistance art strategy, and then the second confrontation tactics set of strategies that the second unmanned plane is formed into columns is formed, it is wrapped in the second confrontation tactics set of strategies
Include multiple second confrontation tactics strategies；Obtain the state that the first unmanned plane is formed into columns with all unmanned planes in the formation of the second unmanned plane
Parameter, state parameter include the real time position of unmanned plane, real-time flight angle, real-time speed and radar property parameters, guided missile
Property parameters, radar property parameters include radar maximum search range, and guided missile property parameters include scope impact factor, lead
Bullet maximum attack distance and guided missile can not region of escape maximum/minimum distances；According to the state parameter of unmanned plane, the first confrontation is obtained
Each of tactics set of strategies first fights tactics strategy relative to second pair of each of second confrontation tactics set of strategies
The tactful payoff of war of resistance art strategy and second the second confrontation tactics strategy of confrontation each of tactics set of strategies relative to
The tactful payoff of the first confrontation tactics strategy of each of first confrontation tactics set of strategies；According to tactful payoff, establish
The gaming matrix for confrontation that first unmanned plane is formed into columns and the second unmanned plane is formed into columns；The Nash Equilibrium Solution of gaming matrix is calculated, to obtain
Tactics strategy of the first unmanned plane formation in antagonistic process.
Preferably, tactful cutting is carried out to second yuan of tactics set of strategies, to delete the part in second yuan of tactics set of strategies
Second yuan of tactics strategy specifically includes: to grasping below any one second yuan of tactics strategy execution in second yuan of tactics set of strategies
Make: two of two frame unmanned planes during the first unmanned plane for obtaining second yuan of tactics strategy is formed into columns or the second unmanned plane is formed into columns are basic
Motor unit；Judge whether two elemental motion units and second yuan of tactics strategy meet consistency；Judging that two are moved substantially
Make unit and in the case that second yuan of tactics strategy is unable to satisfy consistency, deletes second yuan of tactics strategy.
Preferably, judge whether meet consistency with second yuan of tactics strategy between two elemental motions, specifically include: obtaining
All elemental motion units in second yuan of tactics strategy are taken, to form the elemental motion unit combination of second yuan of tactics strategy；
Judge two elemental motion units whether combined with elemental motion unit in elemental motion unit be overlapped；Judge two it is basic
Motor unit combined with elemental motion unit in elemental motion unit be overlapped in the case where, judge two elemental motion units with
Second yuan of tactics strategy meets consistency.
Preferably, the tactful payoff of the first confrontation tactics strategy in the first confrontation tactics set of strategies is obtained, it is specific to wrap
It includes: according to the state parameter of unmanned plane, obtaining first yuan of tactics dominance of strategies value in the first confrontation tactics strategy；According to nothing
Man-machine state parameter obtains the frame in the first unmanned plane formation of second yuan of tactics strategy in the first confrontation tactics strategy
Unmanned plane is relative to another frame in the first Superiority Value of the unmanned plane in the formation of the second unmanned plane and the formation of the first unmanned plane
Unmanned plane relative to the second unmanned plane form into columns in unmanned plane the second Superiority Value or the second unmanned plane form into columns in a frame without
It is man-machine relative to the first unmanned plane form into columns in unmanned plane the first Superiority Value and the second unmanned plane form into columns in another frame without
Man-machine the second Superiority Value relative to the unmanned plane in the formation of the first unmanned plane；First Superiority Value and the second Superiority Value are merged,
Obtain second yuan of tactics dominance of strategies value in the first confrontation tactics strategy；First is fought all the in tactics strategy
Unitary tactics dominance of strategies value and second yuan of tactics dominance of strategies value are merged, and the branch of the first confrontation tactics strategy is obtained
Pay value.
Above-mentioned technical proposal, the tactical decision method and apparatus by second yuan of tactics set of strategies forming into columns to unmanned plane into
Row strategy is cut, and is reduced and is calculated the time, is formed into columns using method the first unmanned plane of calculating of multi-level fusion and the second unmanned plane is compiled
The tactful payoff of the confrontation tactics strategy of team reasonably embodies overall efficiency of the unmanned plane formation in the case where cooperateing with tactics, from
And optimal tactics strategy rapidly can be provided for unmanned plane formation.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the tactical decision method that unmanned plane is formed into columns under a kind of Antagonistic Environment according to an embodiment of the present invention
Flow chart；
Fig. 2 shows a kind of battle schematic diagrames of second yuan of tactics strategy；
Fig. 3 shows a kind of optional tactics schematic diagram of a frame unmanned plane in second yuan of tactics strategy；
Fig. 4 shows a kind of battle schematic diagram of second yuan of tactics strategy；
Fig. 5 shows the battle schematic diagram of unmanned plane formation cooperation.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 is the tactical decision method that unmanned plane is formed into columns under a kind of Antagonistic Environment according to an embodiment of the present invention
Flow chart.As shown in Figure 1, in one embodiment of the present invention, the tactics that unmanned plane is formed into columns under a kind of Antagonistic Environment are provided
Decision-making technique, it includes that the first unmanned plane formation fought and the second unmanned plane are formed into columns that wherein unmanned plane, which is formed into columns, tactical decision
Method can specifically include:
In step s101, the first tactics strategy for the confrontation tactics that the first unmanned plane is formed into columns and the second unmanned plane is formed into columns is obtained
Collection, first tactics set of strategies include first yuan of tactics set of strategies and second yuan of tactics set of strategies, and first yuan of tactics set of strategies includes more
A first yuan of tactics strategy, the frame unmanned plane that first yuan of tactics strategy is defined as in the formation of the first unmanned plane fight the second nothing
A frame unmanned plane in man-machine formation includes multiple second yuan of tactics strategy, second yuan of tactics plan in second yuan of tactics set of strategies
Two frame unmanned planes being slightly defined as in the formation of the first unmanned plane fight the frame unmanned plane or first in the formation of the second unmanned plane
A frame unmanned plane in unmanned plane formation fights two frame unmanned planes in the formation of the second unmanned plane.
Such as first unmanned plane form into columns in No. 1 unmanned plane fight the second unmanned plane form into columns in No. 3 unmanned planes be first
First yuan of tactics strategy in first tactics set of strategies；No. 2 unmanned planes in the formation of first unmanned plane fight the second unmanned plane
No. 3 unmanned planes in formation are also first yuan of tactics strategy in first yuan of tactics set of strategies.
Fig. 2 shows a kind of schematic diagrames of second yuan of tactics strategy.Second yuan of tactics strategy shown in Fig. 2 can for example be retouched
It states are as follows: when fighting both sides' distance and reaching threshold value (such as 60km), the frame unmanned plane that the first unmanned plane is formed into columns is (hereinafter referred to as long
Machine) to side invert, the first unmanned plane form into columns a frame unmanned plane (hereinafter referred to as wing plane) flown nonstop to other side, leader invert again into
Enter attack.If the unmanned plane that wing plane is formed into columns before target of attack by the second unmanned plane locks, wing plane implements reversion, is turned by leader
Enter attack.For second yuan of tactics strategy shown in Fig. 2, Fig. 3 shows the optional of a frame unmanned plane of the first unmanned plane formation
Tactics.As shown in figure 3, the first unmanned plane form into columns a frame unmanned plane optional elemental motion unit be fly nonstop to flank detour,
Flank detour includes left side flap detour and right side flap detour again.
Fig. 4 shows a kind of schematic diagram of second yuan of tactics strategy.Second yuan of tactics strategy shown in Fig. 4 can for example be retouched
It states are as follows: the frame unmanned plane (leader) when battle battle both sides' distance reaches threshold value (such as 60km), in the formation of the first unmanned plane
Acceleration is climbed to suitable height (such as climb 7000m), the first unmanned plane form into columns in another frame unmanned plane (wing plane) height under
Certain distance (such as decline 500m) drops, and wing plane reversion turns around to outflank folder to the frame unmanned aerial vehicle in the formation of the second unmanned plane
It hits.For second yuan of tactics strategy shown in Fig. 4, the optional elemental motion unit for the frame unmanned plane that the first unmanned plane is formed into columns is
It climbs and reduces downwards upwards.
Second yuan of tactics set of strategies can for example indicate are as follows:
(LT1, LT2), (LT1, SF2), (LT1, RT2), (SF1, LT2), (SF1, SF2), (SF1, RT2), (RT1,
LT2), (RT1, SF2), (RT1, RT2), (GU1, GU2), (GU1, GD2), (GD1, GU2), (GD1, GD2) ... ... }
Wherein, LT1 indicates leader left side flap detour, and SF1 indicates that leader is flown nonstop to, and RT1 indicates leader right side flap detour, LT2
Indicate wing plane left side flap detour, SF2 indicates that wing plane is flown nonstop to, and RT2 indicates wing plane right side flap detour, and GU1 indicates that leader climbs upwards
Highly, GD1 indicates that leader reduces downwards height, and GU2 indicates that the upward climb altitude of wing plane, GD2 indicate that wing plane reduces downwards height.
In step s 102, tactful cutting is carried out to second yuan of tactics set of strategies, to delete in second yuan of tactics set of strategies
Second yuan of part tactics strategy.Such as can by second yuan of tactics strategy second yuan of tactics strategy (LT1, LT2),
(LT1, RT2) and (RT1, RT2) is cropped.
It is above-mentioned as it can be seen that by fly nonstop to flank detour (left side flap detour and right side flap detour) can obtain 9 kinds second yuan war
Art strategy.4 kinds of second yuan of tactics strategies can be obtained by climbing upwards and reducing by two elemental motion units downwards.
In one embodiment of the present invention, tactful cutting is carried out to second yuan of tactics set of strategies, to delete second yuan of war
Second yuan of part tactics strategy in art set of strategies specifically includes:
To being operated below any one second yuan of tactics strategy execution in second yuan of tactics set of strategies:
Two of two frame unmanned planes during the first unmanned plane for obtaining second yuan of tactics strategy is formed into columns or the second unmanned plane is formed into columns
A elemental motion unit.The frame unmanned plane that second unmanned plane is formed into columns is fought for two frame unmanned planes in the formation of the first unmanned plane
The case where, acquisition be the first unmanned plane form into columns in two frame unmanned planes two elemental motion units；For the second unmanned plane
Two frame unmanned planes in formation fight the case where frame unmanned plane that the first unmanned plane is formed into columns, and acquisition is that the second unmanned plane is formed into columns
In two frame unmanned planes two elemental motion units.Such as in second yuan of tactics strategy shown in Fig. 2, two elemental motions
Unit is to fly nonstop to and flank detour；In second yuan of tactics strategy shown in Fig. 4, two elemental motion units be climb upwards and
It reduces downwards.
Judge whether two elemental motion units and second yuan of tactics strategy meet consistency.Such as it can specifically include:
All elemental motion units in second yuan of tactics strategy are obtained, to form the elemental motion of second yuan of tactics strategy
Unit combination；
Judge two elemental motion units whether combined with elemental motion unit in elemental motion unit be overlapped；
In the case that elemental motion unit in judging two elemental motion units with elemental motion unit and combining is overlapped,
Think that two elemental motion units and second yuan of tactics strategy meet consistency.
The elemental motion unit combination of second yuan of tactics strategy as shown in Figure 2 can be expressed as { SF, LT }；Shown in Fig. 4
The elemental motion unit of second yuan of tactics strategy can be expressed as { GU, GD }.If the first unmanned plane then obtained is formed into columns or the
Two elemental motion units of two frame unmanned planes in the formation of two unmanned planes are flown nonstop to and flank detour, then two elemental motion respectively
Unit combines unanimously with the elemental motion unit of corresponding second yuan of tactics strategy；If obtain the first unmanned plane form into columns or
Two elemental motion units of two frame unmanned planes in the formation of the second unmanned plane climb upwards respectively and reduce downwards, then two bases
This motor unit combines unanimously with the elemental motion unit of corresponding second yuan of tactics strategy.
In the case where judging that two elemental motion units and second yuan of tactics strategy are unable to satisfy consistency, delete this
Binary tactics strategy, otherwise second yuan of tactics strategy retains.After the completion of cutting, second yuan of tactics set of strategies can for example be indicated
Are as follows:
{ (LT1, SF2), (SF1, LT2), (SF1, RT2), (RT1, SF2), (GU1, GD2), (GD1, GU2) ... ... } is cut out
The second yuan of tactics strategy cut has:
(LT1,LT2)、(LT1,RT2)、(RT1,LT2)、(SF1,SF2)、(RT1,RT2)、(GU1,GU2)、(GD1,GD2)
Deng.
In step s 103, selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively several first
First tactics strategy and several second yuan of tactics strategy, to obtain the first confrontation tactics strategy that the first unmanned plane is formed into columns, in turn
The first confrontation tactics set of strategies of the first unmanned plane formation is formed, includes multiple first pair of war of resistance in the first confrontation tactics set of strategies
Art strategy.
Due to including multiple second yuan of tactics strategy in second yuan of tactics set of strategies, second yuan of different tactics are repeatedly selected
Strategy, then obtain the first multiple and different confrontation tactics strategies, and multiple first confrontation tactics strategies form the first unmanned plane and form into columns
First confrontation tactics set of strategies.
There are four frame unmanned planes, the formation of the second unmanned plane there are two frame unmanned planes with the formation of the first unmanned plane, the first unmanned plane is compiled
Two frame unmanned planes in team fight the second unmanned plane form into columns in a frame unmanned plane, the first unmanned plane form into columns in other two frame without
For another frame unmanned plane in man-machine the second unmanned plane of battle formation, then need to select two from second yuan of tactics set of strategies
Second yuan of tactics strategy, to form the first counterplot of the first unmanned plane formation.The choosing as shown in figure 5, the first unmanned plane is formed into columns
Select Fig. 2 and second yuan of tactics strategy shown in Fig. 4, the first confrontation tactics set of strategies that the first unmanned plane of composition is formed into columns.Consider the
The task distribution of unmanned plane during one unmanned plane is formed into columns and the second unmanned plane is formed into columns, the first confrontation tactics set of strategies can for example indicate
Are as follows:
As it can be seen that including 8 kind of first confrontation tactics strategy in the first confrontation tactics set of strategies.If not to second yuan of tactics plan
Slightly collection carries out tactful cutting, then includes 36 kind first in the first confrontation tactics set of strategies that the first unmanned plane being here formed as is formed into columns
Tactics strategy is fought, undoubtedly will increase the time for obtaining the tactics strategy that the first unmanned plane is formed into columns.
In step S104, selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively several first
First tactics strategy and several second yuan of tactics strategy, to obtain the second confrontation tactics strategy that the second unmanned plane is formed into columns, in turn
The second confrontation tactics set of strategies of the second unmanned plane formation is formed, includes multiple second pair of war of resistance in the second confrontation tactics set of strategies
Art strategy.
It will be appreciated by those skilled in the art that the acquisition and the acquisition of the first counterplot collection of the second confrontation tactics set of strategies
Identical, details are not described herein again.
In step s105, the state ginseng that the first unmanned plane is formed into columns with all unmanned planes in the formation of the second unmanned plane is obtained
Number, state parameter includes the real time position of unmanned plane, real-time flight angle, real-time speed and radar property parameters, guided missile category
Property parameter, radar property parameters include radar maximum search range, and guided missile property parameters include scope impact factor, guided missile
Maximum attack distance and guided missile can not region of escape maximum/minimum distances.
In step s 106, according to the state parameter of unmanned plane, each of first confrontation tactics set of strategies the is obtained
The second confrontation tactics strategy of each of the tactful payoff of a pair of of war of resistance art strategy and the second confrontation tactics set of strategies
Tactful payoff.
In one embodiment of the present invention, the plan of the first confrontation tactics strategy in the first confrontation tactics set of strategies is obtained
Slightly payoff, can specifically include:
According to the state parameter of unmanned plane, first yuan of tactics dominance of strategies value in the first confrontation tactics strategy is obtained；
According to the state parameter of unmanned plane, obtain second yuan of tactics strategy in the first confrontation tactics strategy first nobody
First Superiority Value and first unmanned plane of the frame unmanned plane relative to the unmanned plane in the formation of the second unmanned plane in machine formation
Second Superiority Value or second unmanned plane of another frame unmanned plane relative to the unmanned plane in the formation of the second unmanned plane in formation
A frame unmanned plane in formation is compiled relative to the first Superiority Value of the unmanned plane in the formation of the first unmanned plane and the second unmanned plane
Second Superiority Value of another frame unmanned plane relative to the unmanned plane in the formation of the first unmanned plane in team；
First Superiority Value and the second Superiority Value are merged using evidence theory fusion algorithm in the prior art, obtain first
Fight second yuan of tactics dominance of strategies value in tactics strategy；
All first yuan in tactics strategy is fought by first using evidence theory fusion algorithm in the prior art to fight
Art dominance of strategies value and second yuan of tactics dominance of strategies value are merged, and the payoff of the first confrontation tactics strategy is obtained.
In one embodiment of the present invention, such as first nothing of second yuan of tactics strategy can be obtained in the following ways
First Superiority Value of the frame unmanned plane relative to the unmanned plane in the formation of the second unmanned plane in man-machine formation:
A frame unmanned plane in the formation of first unmanned plane is calculated relative to the nothing in the formation of the second unmanned plane using formula (1)
Man-machine ceiling advantage value:
Wherein, SH|ijFor the first unmanned plane form into columns in the i-th frame unmanned plane relative to the second unmanned plane form into columns in jth frame nobody
The ceiling advantage value of machine, ziFor the height value of the i-th frame unmanned plane in the formation of the first unmanned plane, zjFor jth in the formation of the second unmanned plane
The height value of frame unmanned plane, z0For the flight optimization height of unmanned plane in the formation of the first unmanned plane, e is exponential function；
The frame unmanned plane in the formation of the first unmanned plane is calculated relative to the nothing in the formation of the second unmanned plane using formula (2)
It is man-machine apart from Superiority Value:
Wherein, SD|ijFor the first unmanned plane form into columns in the i-th frame unmanned plane relative to the second unmanned plane form into columns in jth frame nobody
Machine apart from Superiority Value,For the impact factor of scope, DijFor the first unmanned plane form into columns in the i-th frame without
The man-machine space length relative between jth frame unmanned plane in the formation of the second unmanned plane, DRmaxFor radar maximum search distance,
DMmaxFor guided missile maximum attack distance, DMKmaxFor guided missile can not region of escape maximum distance, DMKminIt can not region of escape minimum for guided missile
Distance (unit is km)；
The frame unmanned plane in the formation of the first unmanned plane is calculated relative to the nothing in the formation of the second unmanned plane using formula (3)
Man-machine angle advantage value:
Wherein, SA|ijFor the i-th frame in the formation of the first unmanned plane
Angle advantage value of the unmanned plane relative to jth frame unmanned plane in the formation of the second unmanned plane, αi|ijAnd αj|ijRespectively the first unmanned plane
The i-th frame unmanned plane is relative to nothing in the first unmanned plane formation between jth frame unmanned plane battle in the formation of the second unmanned plane in formation
The angle of unmanned plane directional velocity and direction of visual lines in the formation of man-machine and the second unmanned plane, | αi|ij| and | αj|ij| it is respectively αi|ij
And αj|ijAbsolute value, arccos is inverse cosine function, and cos is cosine function, and sin is SIN function, θiAnd ψiRespectively first
The pitch angle and track deflection angle of i-th frame unmanned plane, θ in unmanned plane formationjAnd ψjFor the second unmanned plane form into columns in jth frame nobody
The pitch angle and track deflection angle of machine, (xi,yi,zi) be the first unmanned plane form into columns in the i-th frame unmanned plane position coordinates, (xj,
yj,zj) be the second unmanned plane form into columns in jth frame unmanned plane position coordinates；
Then using evidence theory fusion algorithm in the prior art by above-mentioned ceiling advantage value, apart from Superiority Value and angle
Superiority Value fusion, can be obtained second yuan of tactics strategy the first unmanned plane form into columns in a frame unmanned plane relative to second nobody
First Superiority Value of the unmanned plane in machine formation.It will be appreciated by those skilled in the art that first in the first confrontation tactics strategy
First tactics dominance of strategies value, second yuan of tactics strategy the first unmanned plane form into columns in another frame unmanned plane relative to the second nothing
The calculation method of second Superiority Value of the unmanned plane in man-machine formation is identical as the calculation method of above-mentioned first Superiority Value.In addition,
Obtain the tactful payoff of the second confrontation tactics strategy in the second confrontation tactics set of strategies and described in being obtained
The method of the tactful payoff of the first confrontation tactics strategy in first confrontation tactics set of strategies is also identical, no longer superfluous herein
It states.
In step s 107, according to the strategy of the first confrontation tactics strategy and the second confrontation tactics strategy
Payoff establishes the gaming matrix that first unmanned plane is formed into columns and second unmanned plane formation is fought.
In step S108, the Nash Equilibrium Solution of the gaming matrix is calculated, is formed into columns with obtaining first unmanned plane
Tactics strategy in antagonistic process.
It additionally provides and forms into columns for executing unmanned plane under any one of the above Antagonistic Environment in embodiments of the present invention
Tactical decision method tactical decision device.The tactical decision device for example may include processor, and processor is configured as:
Obtain the first tactics set of strategies for the confrontation tactics that first unmanned plane is formed into columns and second unmanned plane is formed into columns, institute
Stating first tactics set of strategies includes first yuan of tactics set of strategies and second yuan of tactics set of strategies, and first yuan of tactics set of strategies includes
Multiple first yuan of tactics strategy, first yuan of tactics strategy are defined as the frame unmanned plane in the first unmanned plane formation
The frame unmanned plane in the second unmanned plane formation is fought, includes multiple second yuan of tactics in second yuan of tactics set of strategies
Strategy, the two frame unmanned planes that second yuan of tactics strategy is defined as in the first unmanned plane formation fight second nothing
The frame unmanned plane in a frame unmanned plane or first unmanned plane formation in man-machine formation is fought second unmanned plane and is compiled
Two frame unmanned planes in team；
Tactful cutting is carried out to second yuan of tactics set of strategies, to delete the part in second yuan of tactics set of strategies
Second yuan of tactics strategy；
Selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively several described first
First tactics strategy and several described second yuan of tactics strategies, to obtain the first confrontation tactics plan that first unmanned plane is formed into columns
Slightly, and then the first confrontation tactics set of strategies that first unmanned plane is formed into columns is formed, is wrapped in the first confrontation tactics set of strategies
Include multiple first confrontation tactics strategies；
Selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively several described first
First tactics strategy and several described second yuan of tactics strategies, to obtain the second confrontation tactics plan that second unmanned plane is formed into columns
Slightly, and then the second confrontation tactics set of strategies that second unmanned plane is formed into columns is formed, is wrapped in the second confrontation tactics set of strategies
Include multiple second confrontation tactics strategies；
Obtain the state parameter that first unmanned plane is formed into columns with all unmanned planes in second unmanned plane formation, institute
Stating state parameter includes the real time position of unmanned plane, real-time flight angle, real-time speed and radar property parameters, guided missile attribute
Parameter, the radar property parameters include radar maximum search range, the guided missile property parameters include scope influence because
Son, guided missile maximum attack distance and guided missile can not region of escape maximum/minimum distances；
According to the state parameter of unmanned plane, obtain first described in each of described first confrontation tactics set of strategies
Fight strategy of the tactics strategy relative to the second confrontation tactics strategy described in each of described second confrontation tactics set of strategies
The second confrontation tactics strategy is relative to described first described in each of payoff and the second confrontation tactics set of strategies
Fight the tactful payoff of the first confrontation tactics strategy described in each of tactics set of strategies；
According to the strategy payoff, establishes the first unmanned plane formation and won with what second unmanned plane formation was fought
Play chess matrix；
The Nash Equilibrium Solution of the gaming matrix is calculated, to obtain war of the first unmanned plane formation in antagonistic process
Art strategy.By above embodiment,
The tactical decision method and apparatus carry out tactful cutting by the second yuan of tactics set of strategies formed into columns to unmanned plane, subtract
The calculating time is lacked, the confrontation tactics plan that the first unmanned plane is formed into columns and the second unmanned plane is formed into columns is calculated using the method for multi-level fusion
Tactful payoff slightly embodies overall efficiency of the unmanned plane formation in the case where cooperateing with tactics, reasonably so as to rapidly be
Unmanned plane, which is formed into columns, provides optimal tactics strategy.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.It is further to note that in above-mentioned specific embodiment
Described in each particular technique feature can be combined in any appropriate way in the case of no contradiction, be
Avoid unnecessary repetition, the invention will not be further described in various possible combinations.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (8)
1. a kind of tactical decision method that unmanned plane is formed into columns under Antagonistic Environment, which is characterized in that it includes hair that the unmanned plane, which is formed into columns,
First unmanned plane of raw confrontation is formed into columns and the second unmanned plane is formed into columns, and the tactical decision method specifically includes:
Obtain the first tactics set of strategies for the confrontation tactics that first unmanned plane is formed into columns and second unmanned plane is formed into columns, the member
Tactics set of strategies includes first yuan of tactics set of strategies and second yuan of tactics set of strategies, and first yuan of tactics set of strategies includes multiple
First yuan of tactics strategy, first yuan of tactics strategy are defined as the frame unmanned plane battle in the first unmanned plane formation
Second unmanned plane form into columns in a frame unmanned plane, include multiple second yuan of tactics plan in second yuan of tactics set of strategies
Slightly, second yuan of tactics strategy be defined as first unmanned plane form into columns in two frame unmanned planes battle described second nobody
The frame unmanned plane in a frame unmanned plane or first unmanned plane formation in machine formation fights second unmanned plane and forms into columns
In two frame unmanned planes；
Tactful cutting is carried out to second yuan of tactics set of strategies, to delete described in the part in second yuan of tactics set of strategies
Second yuan of tactics strategy；
Several first yuan of war is selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively
Art strategy and several described second yuan of tactics strategies, to obtain the first confrontation tactics strategy that first unmanned plane is formed into columns,
And then the first confrontation tactics set of strategies that first unmanned plane is formed into columns is formed, it include more in the first confrontation tactics set of strategies
A first confrontation tactics strategy；
Several first yuan of war is selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively
Art strategy and several described second yuan of tactics strategies, to obtain the second confrontation tactics strategy that second unmanned plane is formed into columns,
And then the second confrontation tactics set of strategies that second unmanned plane is formed into columns is formed, it include more in the second confrontation tactics set of strategies
A second confrontation tactics strategy；
Obtain the state parameter that first unmanned plane is formed into columns with all unmanned planes in second unmanned plane formation, the shape
State parameter includes the real time position of unmanned plane, real-time flight angle, real-time speed and radar property parameters, guided missile attribute ginseng
Number, the radar property parameters include radar maximum search range, the guided missile property parameters include scope impact factor,
Guided missile maximum attack distance and guided missile can not region of escape maximum/minimum distances；
According to the state parameter of unmanned plane, the first confrontation described in each of described first confrontation tactics set of strategies is obtained
Second confrontation tactics strategy described in each of the tactful payoff of tactics strategy and the second confrontation tactics set of strategies
Tactful payoff；
According to the tactful payoff of the first confrontation tactics strategy and the second confrontation tactics strategy, described the is established
The gaming matrix for confrontation that one unmanned plane is formed into columns and second unmanned plane is formed into columns；
The Nash Equilibrium Solution of the gaming matrix is calculated, to obtain tactics plan of the first unmanned plane formation in antagonistic process
Slightly.
2. tactical decision method according to claim 1, which is characterized in that carry out plan to second yuan of tactics set of strategies
It slightly cuts, is specifically included with the part second yuan of tactics strategy deleted in second yuan of tactics set of strategies:
To being operated below any one of second yuan of tactics strategy execution in second yuan of tactics set of strategies:
Obtain second yuan of tactics strategy first unmanned plane form into columns or second unmanned plane form into columns in two framves without
Two man-machine elemental motion units；
Judge whether described two elemental motion units and second yuan of tactics strategy meet consistency；
In the case where judging that described two elemental motion units and second yuan of tactics strategy are unable to satisfy consistency, delete
Second yuan of tactics strategy.
3. tactical decision method according to claim 2, which is characterized in that judge described two elemental motions and described the
Whether binary tactics strategy meets consistency, specifically includes:
All elemental motion units in second yuan of tactics strategy are obtained, to form the basic of second yuan of tactics strategy
Motor unit combination；
Judge described two elemental motion units whether combined with the elemental motion unit in elemental motion unit be overlapped；
The feelings that elemental motion unit in judging described two elemental motion units with the elemental motion unit and combining is overlapped
Under condition, judge that described two elemental motion units and second yuan of tactics strategy meet consistency.
4. tactical decision method according to claim 3, which is characterized in that obtain in the first confrontation tactics set of strategies
It is described first confrontation tactics strategy tactful payoff, specifically include:
According to the state parameter of unmanned plane, first yuan of tactics strategy in the first confrontation tactics strategy is obtained
Superiority Value；
According to the state parameter of unmanned plane, second yuan of tactics strategy in the first confrontation tactics strategy is obtained
First advantage of the frame unmanned plane relative to the unmanned plane in second unmanned plane formation in the first unmanned plane formation
Another frame unmanned plane in value and first unmanned plane formation is relative to the unmanned plane in second unmanned plane formation
A frame unmanned plane in second Superiority Value or second unmanned plane formation is relative to the nothing in first unmanned plane formation
Another frame unmanned plane in the first man-machine Superiority Value and second unmanned plane formation is compiled relative to first unmanned plane
Second Superiority Value of the unmanned plane in team；
First Superiority Value and second Superiority Value are merged, described second in the first confrontation tactics strategy is obtained
First tactics dominance of strategies value；
By all first yuan of tactics dominance of strategies values and second yuan of war in the first confrontation tactics strategy
Art dominance of strategies value is merged, and the payoff of the first confrontation tactics strategy is obtained.
5. the tactical decision device that unmanned plane is formed into columns under a kind of Antagonistic Environment, which is characterized in that it includes hair that the unmanned plane, which is formed into columns,
First unmanned plane of raw confrontation is formed into columns and the second unmanned plane is formed into columns, and the tactical decision device includes processor, the processor
It is configured as:
Obtain the first tactics set of strategies for the confrontation tactics that first unmanned plane is formed into columns and second unmanned plane is formed into columns, the member
Tactics set of strategies includes first yuan of tactics set of strategies and second yuan of tactics set of strategies, and first yuan of tactics set of strategies includes multiple
First yuan of tactics strategy, first yuan of tactics strategy are defined as the frame unmanned plane battle in the first unmanned plane formation
Second unmanned plane form into columns in a frame unmanned plane, include multiple second yuan of tactics plan in second yuan of tactics set of strategies
Slightly, second yuan of tactics strategy be defined as first unmanned plane form into columns in two frame unmanned planes battle described second nobody
The frame unmanned plane in a frame unmanned plane or first unmanned plane formation in machine formation fights second unmanned plane and forms into columns
In two frame unmanned planes；
Tactful cutting is carried out to second yuan of tactics set of strategies, to delete described in the part in second yuan of tactics set of strategies
Second yuan of tactics strategy；
Several first yuan of war is selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively
Art strategy and several described second yuan of tactics strategies, to obtain the first confrontation tactics strategy that first unmanned plane is formed into columns,
And then the first confrontation tactics set of strategies that first unmanned plane is formed into columns is formed, it include more in the first confrontation tactics set of strategies
A first confrontation tactics strategy；
Several first yuan of war is selected from first yuan of tactics set of strategies and second yuan of tactics set of strategies respectively
Art strategy and several described second yuan of tactics strategies, to obtain the second confrontation tactics strategy that second unmanned plane is formed into columns,
And then the second confrontation tactics set of strategies that second unmanned plane is formed into columns is formed, it include more in the second confrontation tactics set of strategies
A second confrontation tactics strategy；
Obtain the state parameter that first unmanned plane is formed into columns with all unmanned planes in second unmanned plane formation, the shape
State parameter includes the real time position of unmanned plane, real-time flight angle, real-time speed and radar property parameters, guided missile attribute ginseng
Number, the radar property parameters include radar maximum search range, the guided missile property parameters include scope impact factor,
Guided missile maximum attack distance and guided missile can not region of escape maximum/minimum distances；
According to the state parameter of unmanned plane, the first confrontation described in each of described first confrontation tactics set of strategies is obtained
Strategy payment of the tactics strategy relative to the second confrontation tactics strategy described in each of described second confrontation tactics set of strategies
Second confrontation tactics strategy described in each of value and the second confrontation tactics set of strategies is relative to first confrontation
The tactful payoff of first confrontation tactics strategy described in each of tactics set of strategies；
According to the tactful payoff, the game square that first unmanned plane is formed into columns and second unmanned plane formation is fought is established
Battle array；
The Nash Equilibrium Solution of the gaming matrix is calculated, to obtain tactics plan of the first unmanned plane formation in antagonistic process
Slightly.
6. tactical decision device according to claim 5, which is characterized in that carry out plan to second yuan of tactics set of strategies
It slightly cuts, is specifically included with the part second yuan of tactics strategy deleted in second yuan of tactics set of strategies:
To being operated below any one of second yuan of tactics strategy execution in second yuan of tactics set of strategies:
Obtain second yuan of tactics strategy first unmanned plane form into columns or second unmanned plane form into columns in two framves without
Two man-machine elemental motion units；
Judge whether described two elemental motion units and second yuan of tactics strategy meet consistency；
In the case where judging that described two elemental motion units and second yuan of tactics strategy are unable to satisfy consistency, delete
Second yuan of tactics strategy.
7. tactical decision method according to claim 6, which is characterized in that judge between described two elemental motions with institute
It states whether second yuan of tactics strategy meets consistency, specifically includes:
All elemental motion units in second yuan of tactics strategy are obtained, to form the basic of second yuan of tactics strategy
Motor unit combination；
Judge described two elemental motion units whether combined with the elemental motion unit in elemental motion unit be overlapped；
The feelings that elemental motion unit in judging described two elemental motion units with the elemental motion unit and combining is overlapped
Under condition, judge that described two elemental motion units and second yuan of tactics strategy meet consistency.
8. tactical decision device according to claim 7, which is characterized in that obtain in the first confrontation tactics set of strategies
It is described first confrontation tactics strategy tactful payoff, specifically include:
According to the state parameter of unmanned plane, first yuan of tactics strategy in the first confrontation tactics strategy is obtained
Superiority Value；
According to the state parameter of unmanned plane, second yuan of tactics strategy in the first confrontation tactics strategy is obtained
First advantage of the frame unmanned plane relative to the unmanned plane in second unmanned plane formation in the first unmanned plane formation
Another frame unmanned plane in value and first unmanned plane formation is relative to the unmanned plane in second unmanned plane formation
A frame unmanned plane in second Superiority Value or second unmanned plane formation is relative to the nothing in first unmanned plane formation
Another frame unmanned plane in the first man-machine Superiority Value and second unmanned plane formation is compiled relative to first unmanned plane
Second Superiority Value of the unmanned plane in team；
First Superiority Value and second Superiority Value are merged, described second in the first confrontation tactics strategy is obtained
First tactics dominance of strategies value；
By all first yuan of tactics dominance of strategies values and second yuan of war in the first confrontation tactics strategy
Art dominance of strategies value is merged, and the payoff of the first confrontation tactics strategy is obtained.
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