CN110502031A - The isomery unmanned plane cluster of task based access control demand cooperates with optimal configuration method - Google Patents
The isomery unmanned plane cluster of task based access control demand cooperates with optimal configuration method Download PDFInfo
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Abstract
The invention discloses the isomery unmanned plane clusters of task based access control demand to cooperate with optimal configuration method, task is executed before for the allocation problem of cluster topology and scale for unmanned plane in the case of solving unmanned plane cluster cooperation, to be suitable for practical battlefield, and then obtain the optimal cluster configuration result of efficiency.The present invention is according to specific particular task scene, consider the cooperative characteristics of isomery unmanned plane, unmanned plane cluster firepower efficiency and required firepower efficiency are assessed using analytic hierarchy process (AHP), the isomery unmanned plane cluster comprising investigation, attack, oiling unmanned plane established by cluster configuration model obtains the cluster configuration result of final unmanned plane with nonlinear integer programming method.
Description
Technical field
The invention belongs to unmanned plane clusters to cooperate with field, in particular to the isomery unmanned plane cluster of a kind of task based access control demand
Cooperate with optimal configuration method.
Background technique
Traditional approach only carries out the simple efficiency of each unmanned plane for the calculating of unmanned plane cluster efficiency and is added, in this, as
The overall efficiency of unmanned plane cluster does not account for the co-factor between isomery unmanned plane, so that the configuration result of cluster has
Institute's difference.
With the development of cluster configuration technology, it is contemplated that the characteristic cooperateed between unmanned plane, new scheme are considering nobody
Between machine on the basis of co-factor, the overall efficiency of unmanned plane cluster is calculated, but is not bound with specific battlefield surroundings and matches
The clustered result for meeting mission requirements is set out, practical significance is lacked.
Accordingly, it is desirable to provide a kind of isomery unmanned plane cluster of task based access control demand cooperates with optimal configuration method, to be applicable in
In practical battlefield, and then obtain the optimal cluster configuration result of efficiency.
Summary of the invention
Goal of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of isomery unmanned plane collection of task based access control demand
Optimal configuration method executes task before for collection for unmanned plane in the case of solving unmanned plane cluster cooperation in group's collaboration
The allocation problem of group structure and scale.
Inventive technique solution
In order to achieve the above-mentioned object of the invention, the present invention uses following technical solutions:
The isomery unmanned plane cluster of task based access control demand cooperates with optimal configuration method, includes the following steps:
Step 1: firepower efficiency, unmanned plane cluster cruising ability and war needed for choosing unmanned plane cluster firepower efficiency and battlefield
The battlefield matching operational assessment index that place needs cruising ability to fight as enemy and we；
Step 2: unmanned plane cluster firepower efficiency and required firepower efficiency are assessed using analytic hierarchy process (AHP), respectively
To the fire attack efficiency value of the two；
Step 3: cruising ability needed for comparison unmanned plane cluster cruising ability and battlefield is assessed and obtains the continuous of the two
Navigate ability value；
Step 4: cluster configuration model being established using nonlinear integer programming method, obtains unmanned plane allocation optimum.
Preferably, the method for step 1 are as follows:
On the basis of unmanned plane cluster fight measures of effectiveness, comparison process between ourselves and the enemy is carried out, configuration result can
It embodies unmanned plane cluster to suppress enemy comprehensively or meet the requirement of mission requirements, and selects unmanned plane cluster firepower efficiency and battlefield
Typical matching operation of the cruising ability needed for required efficiency, unmanned plane cluster cruising ability and battlefield as reflection enemy and we's confrontation
Evaluation index.
Preferably, in the step 2 firepower efficiency needed for enemy's operational coordination appraisal procedure are as follows:
Analysis obtains influencing the principal element of required fire attack efficiency: the anti-strike capability of enemy's combat unit itself,
Four factors of weapon system lethality and attack time pressing degree, and the time order and function occurred by target is spent it is pressed for time
With the influence of the size factor of window quick when its own, so that firepower effectiveness factors system needed for enemy is established, with reference to Fig. 1.
Quantification of targets process by weight index calculating and on this basis, obtains firepower efficiency index needed for enemy
The influence efficiency value of each level of systemAnd fire attack efficiency value P needed for enemy's top layer air defense operation unit je jCalculating it is public
Formula is as follows:
In formula: n indicates the coherent element number of the level in effectiveness factors system, wiIndicate the corresponding weight of element,
Influence efficiency value for each element in each level itself to higher level's index.
Fire attack efficiency total value P needed for entire enemy air defences systemE is totalCalculation formula it is as follows:
In formula, N indicates there is the different types of enemy air defences combat unit of N kind, n in battlefieldjIndicate all types of combat units
Quantity, Pe jIndicate the required fire attack efficiency value of different types of single combat unit.
Preferably, our isomery unmanned plane cluster firepower efficiency estimation method in step 2 are as follows:
Influence the principal element of our isomery unmanned plane cluster fire attack efficiency: the load bullet quantity of unmanned plane, unmanned plane
Strike precision, the firepower lethality of ammunition, with reference to Fig. 2.The synergy for considering unmanned plane cluster is attack unmanned plane
Firepower striking capability, which is investigated precision by Drones for surveillance, to be influenced, and efficiency influencing factor is cooperateed with to have: aircraft altitude, resolution ratio essence
Degree and reconnaissance range, with reference to Fig. 3.Obtain early period tracking and positioning efficiency of the attack unmanned plane before and after investigation collaborationWith
Calculation formula it is as follows:
In formula: n indicates the coherent element number of the level, wiIndicate element respective weights, andWithRespectively
Attack the efficiency index value in unmanned plane tracking and positioning evaluation system.
The calculation formula of the synergy factor is as follows:
Multi rack can be overlapped the synergy effect of attack unmanned plane with the reconnaissance UAV of model, calculation formula
It is as follows:
In formula, NDFor the quantity of reconnaissance UAV in cluster, ε is the synergy factor, I0For reconnaissance UAV synergy
When attack unmanned plane attack precision, I1The attack precision of unmanned plane is attacked when to there is reconnaissance UAV synergy.
Quantification of targets obtains unmanned plane firepower measures of effectiveness valueAcquire the firepower efficiency value P of m level unmanned planea mMeter
It is as follows to calculate formula:
In formula, n indicates the coherent element number of the level, wiIndicate element respective weights,It is imitated for the firepower of unmanned plane
It can assessed value.
According to our quantity of the operation based on the estimated all types of unmanned planes excluded, our unmanned plane cluster firepower effect is obtained
It can total value PA is totalCalculation formula it is as follows:
In formula: N indicates to share the attack unmanned plane for carrying different model load in N, n in clusteriIt indicates to carry each model
The unmanned plane quantity of load, Pa iIndicate the firepower efficiency value of the i-th level unmanned plane.
Preferably, in the step 3 unmanned plane cluster required cruising ability calculation method are as follows:
Unmanned plane in addition to oiling unmanned plane is known as function unmanned plane, is obtained according to the fuel load of function unmanned plane i
Specified cruising ability ECrCalculation formula it is as follows:
In formula: i indicates unmanned plane i, OLiAnd OWiThe fuel load and hundred kilometric fuel consumption pers of unmanned plane i are respectively indicated, and will
OWiIt is set as definite value.
ComparisonWith the task voyage Dis of unmanned plane ii, work as appearanceThe case where, then illustrate unmanned plane itself
Cruising ability is insufficient, and the calculation formula of cruising ability REC needed for obtaining unmanned plane cluster is as follows:
In formula: i indicates unmanned plane i, NUIndicate function unmanned plane quantity, DisiIndicate the task voyage of unmanned plane i,
For the specified cruising ability of unmanned plane i, OWiIndicate hundred kilometric fuel consumption pers of unmanned plane i.
Preferably, unmanned plane cluster cruising ability calculation method in the step 3 are as follows:
The calculation formula of the available cruising ability AEC of oiling unmanned plane is as follows:
AEC=NO·OLO
In formula: NOAnd OLORespectively indicate the quantity and fuel load of oiling unmanned plane.
Preferably, the configuration method of different function unmanned plane is as follows in step 4:
Drones for surveillance is P to the probability of target successful execution taskD0, need NDFrame Drones for surveillance to the target simultaneously
Execution task just can ensure that Probability Of Mission Success reaches PDmaxMore than, then NDCalculation formula it is as follows:
In formula: PD0Indicate probability of the Drones for surveillance to target successful execution task, NDFor the quantity of Drones for surveillance,
PDmaxFor NDFrame Drones for surveillance is performed simultaneously the probability of success of task to the target.
The whole firepower efficiency total value of our unmanned plane cluster is greater than the required firepower efficiency total value of enemy, and expression formula is such as
Under:
In formula: PenemyFirepower efficiency value needed for indicating enemy,Indicate the firepower efficiency value of our unmanned plane cluster.
Cruising ability needed for the configuration result of oiling unmanned plane must make cluster that can be greater than battlefield with cruising ability, expression
Formula is as follows:
REC < AEC
In formula: REC indicates the required cruising ability of unmanned plane cluster, and AEC indicates the available cruising ability of unmanned plane cluster.
Preferably, cluster allocation optimum nonlinear integer programming model in step 4 are as follows:
min(costAmmunition+costUnmanned plane)
In formula: costAmmunitionFor ammunition cost, costUnmanned planeFor unmanned plane cost, fuel oil is ignored.
Advantages of the present invention
The present invention has the advantages that
1, the present invention takes specific quantity on the basis of analytic hierarchy process (AHP) establishes unmanned plane cluster efficiency evaluation index system
Change criterion and efficiency quantization is carried out to each element, including carries out qualitative description with 9 grades of quantification theories and carried out with interval quantization
Quantitative description, the beneficial effect is that realizing the target of efficiency index value materialization.
2, cruising ability needed for the present invention analyzes selection cluster cruising ability and battlefield by mission requirements is as unmanned plane
Cluster configuration condition, the beneficial effect is that realizing the configuration requirement for considering mission requirements in conjunction with actual scene.
3, the present invention is by Drones for surveillance in quantum chemical method isomery unmanned plane cluster to the synergy of attack unmanned plane
Degree, i.e. collaboration efficiency impact factor ε, the beneficial effect is that reduce by cooperative characteristics bring efficiency error, it can be more quasi-
Really obtain cluster configuration result.
Detailed description of the invention
Fig. 1 is fire attack effectiveness factors system figure needed for enemy battlefield.
Fig. 2 is unmanned plane cluster fire attack effectiveness factors system figure.
Fig. 3 is unmanned plane tracking and positioning efficiency influencing factor figure.
Fig. 4 attacks unmanned plane fire attack efficiency for us and estimates flow chart.
Specific embodiment
In conjunction with summary of the invention general introduction and attached drawing, the specific embodiment that the present invention will be described in detail.
The isomery unmanned plane cluster collaboration optimal configuration method of task based access control demand, the specific particular task scene of this method,
The cooperative characteristics for considering isomery unmanned plane, are compared by effectiveness analysis on this basis, with nonlinear integer programming method
Obtain the cluster configuration result of final unmanned plane.
Specifically, the isomery unmanned plane cluster collaboration optimal configuration method of task based access control demand is as follows:
Step 1: firepower efficiency, unmanned plane cluster cruising ability and battlefield institute needed for choosing unmanned plane firepower efficiency and battlefield
The battlefield matching operational assessment index for needing cruising ability to fight as enemy and we；
Step 2: unmanned plane cluster firepower efficiency is assessed with firepower efficiency needed for battlefield using analytic hierarchy process (AHP), point
The fire attack efficiency value of the two is not obtained；
Step 3: cruising ability needed for comparison unmanned plane cluster cruising ability and battlefield is assessed and obtains the continuous of the two
Navigate ability value；
Step 4: nonlinear integer programming method is used, to including Drones for surveillance, attack unmanned plane, oiling unmanned plane
Isomery unmanned plane cluster establishes cluster configuration model, obtains unmanned plane allocation optimum.
Step 1 combines the demand of SEAD task, and assumes that our base deposit has investigation, attack, oiling three types
Unmanned plane, the firepower efficiency and cruising ability for choosing unmanned plane cluster are as cluster fight effectiveness evaluation index.It also needs pair
Enemy air defences combat unit carries out the assessment of corresponding efficiency index, and the present invention is referred to as efficiency index needed for battlefield, full to configure
Foot suppresses the operation cluster of enemy and mission requirements comprehensively.To sum up, we select needed for unmanned plane cluster firepower efficiency and battlefield
The matching that cruising ability these two pair index needed for firepower efficiency, unmanned plane cluster entirety cruising ability and battlefield is fought as enemy and we
Property operational assessment index.
Step 2 assesses cluster firepower efficiency and required firepower efficiency using analytic hierarchy process (AHP), comprising:
Step 2.1: firepower measures of effectiveness needed for enemy's operational coordination；
Firstly, for rapidity and Shi Min characteristic that battlefield surroundings are shown, the influence of time critical target is considered nothing by us
During man-machine cluster configuration, and establish firepower effectiveness factors system needed for Fig. 1.And fire attack efficiency needed for influencing is main
Because being known as: enemy's combat unit itself anti-strike capability (B1), weapon system lethality (B2), attack time pressing degree (B3),
And time order and function (the C occurred by target is spent it is pressed for time1) and its own when quick window size (C2) influence.
Wherein, attack time pressing degree reflection unmanned plane cluster tuneable time model in attacking the object procedure
It encloses.Unfriendly target occur more early expression cluster adjustable time window in attack is smaller, therefore lead to the target attack
It spends it is pressed for time higher.Likewise, the degree it is pressed for time of the target is also higher if the when quick window of target is smaller.
Secondly, being directed to effectiveness factors system, we are based on nine scales marking criterion table, construction phase of successively being given a mark by expert group
Element importance judgment matrix is closed, then with weighing computation method, solves the weighted value between efficiency index needed for enemy.
Again, we take particular quantization to carry out efficiency quantization to each element, retouch to qualitative on the basis of index weights
The attribute stated is quantified using 9 grades of quantification theories of improved G.AMiller, uses interval quantization to the attribute of quantitative description
Method.
The present invention improves 9 grades of quantification theories, according to quantitative or quantitative attributes actual conditions, by the minimum of attribute
Value is set as 0 grade or 1 grade, and maximum value is usually arranged as higher 9 grades of rank, and the two is referred to as quantification gradation section
Left and right basic point.If the boundary value of quantized interval has given, corresponding grade basic point can be directly found out.Therefore, according to certainly
Down upward sequence introduce each attribute quantization criterion it is as follows:
1) C layers of index
(1) the target time of occurrence of enemy air defences combat unit
According to the when quick window of each enemy air defences unit, target time of occurrence is got.Target is gone out into current moment and nobody
It is poor that machine departure time is made, flying speed referring again to unmanned plane and with the parameters such as the distance between target, calculating unmanned plane is from
The distance between target is arrived on airport, and in flying speed performance interval [Vmin,Vmax] limitation under unmanned plane fly to target
Point estimates arrival time (Estimated Time of Arrival, ETA) window, wherein VmaxAnd VminRespectively unmanned plane
Minimax speed.With [ETAmin,ETAmax] window left and right side dividing value respectively as 9 grades and 1 grade of basic point, and it is right at equal intervals
The time that each target occurs is quantified, wherein ETAmaxAnd ETAminFor the ETA time of unmanned plane to target point, according to unmanned plane
The distance between target point and unmanned plane minimax speed are calculated.If the target when quick time window in ETAmin
Before, illustrate that the time critical target is extremely urgent, need preferentially to implement strike；If when quick window in ETAmaxLater, illustrate the target
Occur later, can be reserved in subsequent planning process to cluster and certain coordinate space.
(2) the when quick window size of enemy air defences combat unit
When quick window size reflection target Mission Kill chain length, the smaller degree for indicating killing chain compression is higher.It is first
The when quick window for first obtaining each enemy air defences unit, compares quick window size when each target, and the smallest target of length of window is made
Be set as 9 grades for right basic point, and without when quick window requirement be that left basic point is set as 0 grade, then to each target when quick window size press
According to successively being quantified at equal intervals.
2) B layers of index
(1) anti-strike capability of enemy air defences combat unit
Successively classify to enemy's combat unit according to anti-strike capability intensity classification chart.
(2) firepower of enemy air defences combat unit kills ability
Quantitative quantization successively is carried out to enemy's combat unit according to firepower killing Capability Categories table, for example, according to 0 kilogram~
The firepower killing ability of enemy air defences combat unit is successively quantified as 0~9 grade at equal intervals by 20 kilograms.20 kilograms of explosion equivalent
It is equivalent to the explosion energy of 2~3 pieces of USN's electromagnetic railguns, therefore the maximum basic point enough as this paper quantized interval.
(3) the attack time degree of urgency of enemy air defences combat unit
The attack time degree of urgency of enemy air defences combat unit is by its next layer of two factor, time of occurrence and Shi Min window
Mouth is determined do not have practical significance.Therefore the basic point of quantized interval, knot can be set by way of estimating maximin
Conjunction task scene, according to target time of occurrence T the latestlateQuick window TST when with maximummaxCalculate attack time degree of urgency most
Small value similarly calculates and spends maximum value it is pressed for time, and using the two as 1 grade~9 grades basic points.
Finally, we carry out the calculating of efficiency:
Influence efficiency by available each element into each level itself of above-mentioned quantization principle to higher level's index
ValueIn conjunction with weighted value, the required firepower efficiency value P of the enemy air defences combat unit j of top is found oute j:
In formula: n indicates the coherent element number of the level, wiIndicate the corresponding weight of element,Indicate that corresponding efficiency refers to
Influence efficiency value of each element itself to higher level's index in each level in mark system.
It is being calculated in battlefield surroundings after the required firepower efficiency value of each enemy air defences combat unit, so that it may root
According to the quantity of each enemy's combat unit, the required firepower efficiency total value P of enemy air defences system in entire battlefield is calculatedE is total:
In formula: N indicates there is the different types of enemy air defences combat unit of N kind, n in battlefieldiIndicate all types of combat units
Quantity, Pe iIndicate the required fire attack efficiency value of different types of single combat unit.
Step 2.2: isomery unmanned plane cluster firepower measures of effectiveness；
Equally, we establish the cluster firepower effectiveness factors system of isomery unmanned plane.Influence our unmanned plane fire attack
The factor of ability mainly has: the load bullet quantity (H of unmanned plane1), the Strike precision (H of unmanned plane2), the killing of the firepower of ammunition
Power (H3).Unmanned plane bullet-loading capacity can measure the march ability of unmanned plane to a certain extent；The Strike of unmanned plane
Precision refers to the probability hit target, is mainly influenced by unmanned aerial vehicle onboard sensor；Ammunition firepower lethality is to measure unmanned plane fire
The unalterable quota of power attacking ability is the basis of other two influence factors.
The synergy for considering isomery unmanned plane, when isomery unmanned plane cluster cooperation, between different type unmanned plane
Certain positive effect can be generated.For example, need to be obtained using airborne intelligence reconnaissance equipment when attacking unmanned plane execution strike mission
Take the information such as position, appearance, the motion state of target, and carry out positioning aiming when attack etc..But it is limited, is attacked by bearing capacity
Unmanned plane is difficult to carry high-precision reconnaissance equipment, this will seriously affect the precision of follow-on attack process.But it is taken when existing in cluster
When carrying the reconnaissance UAV of high-precision reconnaissance equipment, so that it may greatly enhance the information acquisition capability of cluster entirety.Again will
High-precision information is transmitted by the data communication chain between unmanned plane, can effectively promote the strike essence of attack unmanned plane
Degree, and then promote the firepower efficiency of cluster entirety.Drones for surveillance's quantity is more in cluster, to the positive effect of attack unmanned plane
It is bigger.
Degree collaboration efficiency impact factor ε of the unmanned plane firepower striking capability by reconnaissance UAV synergy will be attacked
Indicate, i.e., attack unmanned plane in the cluster Drones for surveillance collaboration auxiliary front and back Strike efficiency ratio.Due to collaboration
Process mainly influences the tracking and positioning of strike mission, therefore is used to define the efficiency of ε mainly by the high-precision of Drones for surveillance
Degree is scouted load performance and is determined.Influence factor has: flying height (E1), resolution accuracy (E2), reconnaissance range (E3), using layer
Fractional analysis assesses the tracking and positioning efficiency of attack unmanned plane, before quantifying available Drones for surveillance's collaboration
Afterwards, the index efficiency value in unmanned plane tracking and positioning evaluation system is attacked, respectivelyWithIn conjunction with weight,
Us can be found out and attack early period tracking and positioning efficiency of the unmanned plane before and after reconnaissance UAV collaborationWith
In formula: n indicates the coherent element number of the level, wiIndicate element respective weights,WithTable respectively
Show the index efficiency value in attack unmanned plane tracking and positioning evaluation system.Therefore, synergy factor ε may be expressed as:
In formula:WithRespectively indicate we attack unmanned plane reconnaissance UAV collaboration before and after early period with
Track positions efficiency.
When there is multi rack with model Drones for surveillance in cluster, they can fold the synergy effect of attack unmanned plane
Add, then by the attack unmanned plane attack precision I after reconnaissance UAV synergy1It can indicate are as follows:
In formula: NDFor the quantity of reconnaissance UAV in cluster, ε is the synergy factor, I0Shadow is cooperateed with for no Drones for surveillance
Nobody attack precision of unmanned plane, I are attacked when ringing1Nobody strike essence of unmanned plane is attacked when to there is Drones for surveillance's synergy
Degree.
By quantification of targets, index efficiency value in our unmanned plane firepower measures of effectiveness system is obtainedIn conjunction with weight
The firepower efficiency value P of our unmanned plane j can be found outa j:
In formula: n indicates the coherent element number of the level, wiIndicate element respective weights,Indicate our unmanned plane fire
Index efficiency value in power measures of effectiveness system.
According to the quantity of the estimated all types of unmanned planes for sending operation in our operational base, our cluster fire attack is calculated
Efficiency total value PA is totalIt is as follows:
In formula: N indicates to share the attack unmanned plane for carrying different model load in N, n in clusteriIt indicates to carry each model
The unmanned plane quantity of load, Pa iIndicate the fire attack efficiency value of unmanned plane j.
Step 3: step 3 includes:
Step 3.1: the required cruising ability calculation method of unmanned plane cluster are as follows:
Unmanned plane in addition to oiling unmanned plane is known as function unmanned plane, is calculated according to the fuel load of function unmanned plane i
Specified cruising ability ECrCalculation formula it is as follows:
In formula: OLiAnd OWiRespectively indicate the fuel load and hundred kilometric fuel consumption pers of unmanned plane i, and by OWiIt is set as definite value.
It willWith the task voyage Dis of unmanned plane iiIt compares, works as appearanceThe case where, then illustrate nobody
Machine itself cruising ability is insufficient, and the calculation formula for obtaining required cruising ability REC is as follows:
In formula: i indicates unmanned plane i, NUIndicate function unmanned plane quantity, DisiIndicate the task voyage of unmanned plane i,
For the specified cruising ability of unmanned plane i, OWiIndicate hundred kilometric fuel consumption pers of unmanned plane i.
The calculation formula of cruising ability AEC needed for the battlefield of oiling unmanned plane is as follows:
AEC=NO·OLO
In formula: NOAnd OLORespectively indicate the quantity and fuel load of oiling unmanned plane.
Step 3.2: cruising ability calculation method needed for the battlefield of unmanned plane cluster are as follows:
The calculation formula of cruising ability AEC needed for the battlefield of oiling unmanned plane is as follows:
AEC=NO·OLO
In formula: NOAnd OLORespectively indicate oiling unmanned plane quantity and fuel load.
Preferably, step 4 includes:
Step 4.1: the configuration method of different function unmanned plane is as follows:
In this paper scene scenario, reconnaissance UAV only carries out confirmation and injures assessment task, therefore simplifies Drones for surveillance
Configuration, from the angle of success spot probability, a frame Drones for surveillance is P to the probability of target successful execution taskD0,
Need NDFrame reconnaissance UAV, which is performed simultaneously task just to the target, can ensure that Probability Of Mission Success reaches PDmaxMore than, then ND's
Calculation formula is as follows:
In formula: PD0Indicate probability of the Drones for surveillance to target successful execution task, NDFor the quantity of Drones for surveillance,
PDmaxFor NDFrame Drones for surveillance is performed simultaneously the probability of success of task to the target.
The configuration result of attack unmanned plane must make the whole Strike efficiency total value moment of our unmanned plane cluster
Greater than the required Strike efficiency total value of enemy, it just can ensure that our cluster has compacting enemy and meets mission requirements in this way
Ability, mathematical expression is as follows:
PUAVs≥Penemy
In formula: PUAVsIndicate unmanned plane cluster Strike efficiency total value, PenemyStrike efficiency needed for indicating enemy
Total value.
Cruising ability needed for the configuration result of oiling unmanned plane must make cluster that can be greater than battlefield with cruising ability, expression
Formula is as follows:
REC>AEC
The whole firepower efficiency total value of our unmanned plane cluster is greater than the required firepower efficiency total value of enemy, and expression formula is such as
Under:
In formula: PenemyFirepower efficiency value needed for indicating enemy,Indicate the firepower efficiency value of our unmanned plane cluster.
Step 4.2: cluster allocation optimum model are as follows:
The formula of above-mentioned 4.1 description is the bound term that cluster is distributed rationally, and objective function should then be such that unmanned plane cluster makees
Efficiency of fighting is maximum.Cluster fight efficiency is described used herein as war cost price, solves legitimate result using Monte Carlo method.
To allocation optimum model are as follows:
min(costAmmunition+costUnmanned plane)
In formula: costAmmunitionFor ammunition cost, costUnmanned planeFor unmanned plane cost, fuel oil is ignored.
Claims (9)
1. the isomery unmanned plane cluster of task based access control demand cooperates with optimal configuration method, which comprises the steps of:
Step 1: firepower efficiency, unmanned plane cluster cruising ability and battlefield institute needed for choosing unmanned plane cluster firepower efficiency and battlefield
The battlefield matching operational assessment index for needing cruising ability to fight as enemy and we；
Step 2: unmanned plane cluster firepower efficiency is assessed with firepower efficiency needed for battlefield using analytic hierarchy process (AHP), respectively
To the fire attack efficiency value of the two；
Step 3: cruising ability needed for comparison unmanned plane cluster cruising ability and battlefield is assessed and obtains the continuation of the journey energy of the two
Force value；
Step 4: cluster configuration model being established using nonlinear integer programming method, obtains unmanned plane allocation optimum.
2. the isomery unmanned plane cluster of task based access control demand as described in claim 1 cooperates with optimal configuration method, feature exists
In step 1 is specially to carry out comparison process between ourselves and the enemy, configuration knot on the basis of unmanned plane cluster fight measures of effectiveness
Fruit can embody unmanned plane cluster and suppress enemy comprehensively or meet the requirement of mission requirements.
3. the isomery unmanned plane cluster of task based access control demand as claimed in claim 2 cooperates with optimal configuration method, feature exists
In the appraisal procedure of firepower efficiency needed for enemy's operational coordination in step 2 are as follows:
The principal element that analysis obtains influencing required fire attack efficiency is anti-strike capability, the weapon of enemy's combat unit itself
System lethality and attack time pressing degree, and spend it is pressed for time by target occur time order and function and its own when it is quick
The influence of the size factor of window, to establish firepower effectiveness factors system needed for enemy；
Quantification of targets process by weight index calculating and on this basis, obtains firepower effectiveness factors system needed for enemy
The influence efficiency value of each levelAnd fire attack efficiency value needed for enemy's top layer air defense operation unit jCalculation formula such as
Under:
In formula: n indicates the coherent element number of the level in effectiveness factors system, wiIndicate the corresponding weight of element,It is each
Influence efficiency value of each element itself to higher level's index in level；
Fire attack efficiency total value P needed for entire enemy air defences systemE is totalCalculation formula it is as follows:
In formula, N indicates there is the different types of enemy air defences combat unit of N kind, n in battlefieldjIt is single to indicate that all types of enemy air defences are fought
The quantity of member, Pe jIndicate the required fire attack efficiency value of different types of single enemy air defences combat unit.
4. the isomery unmanned plane cluster of task based access control demand as described in claim 1 cooperates with optimal configuration method, feature exists
In our isomery unmanned plane cluster firepower efficiency estimation method in step 2 are as follows:
The principal element for influencing our unmanned plane cluster fire attack efficiency is that carrying for unmanned plane plays quantity, the firepower of unmanned plane is beaten
Precision, the firepower lethality of ammunition are hit, considers that the synergy of unmanned plane cluster is that attack unmanned plane firepower striking capability is detectd
The influence of unmanned plane investigation precision is looked into, and efficiency influencing factor is cooperateed with to have aircraft altitude, resolution accuracy and reconnaissance range, is obtained
Attack early period tracking and positioning efficiency of the unmanned plane before and after investigation collaborationWithCalculation formula it is as follows:
In formula: n indicates the coherent element number of the level, wiIndicate element respective weights, andWithTo attack nobody
Efficiency index value in machine tracking and positioning evaluation system；
The calculation formula of the synergy factor is as follows:
Multi rack can be overlapped the synergy effect of attack unmanned plane with the reconnaissance UAV of model, and calculation formula is such as
Under:
In formula, NDFor the quantity of reconnaissance UAV in cluster, ε is the synergy factor, I0To be attacked when reconnaissance UAV synergy
Hit the attack precision of unmanned plane, I1The attack precision of unmanned plane is attacked when to there is reconnaissance UAV synergy；
Quantification of targets obtains unmanned plane firepower measures of effectiveness valueAcquire the firepower efficiency value P of m level unmanned planea mCalculating
Formula is as follows:
In formula, n indicates the coherent element number of the level, wiIndicate element respective weights,It is commented for the firepower efficiency of unmanned plane
Valuation；
According to our quantity of the operation based on the estimated all types of unmanned planes excluded, it is total to obtain our unmanned plane cluster firepower efficiency
Value PA is totalCalculation formula it is as follows:
In formula: N indicates the attack unmanned plane that N kind carrying different model load is shared in our unmanned plane cluster, niIt indicates to carry each
The attack unmanned plane quantity of model load, Pa iIndicate the firepower efficiency value of the i-th level unmanned plane.
5. the isomery unmanned plane cluster of task based access control demand as described in claim 1 cooperates with optimal configuration method, feature exists
In the required cruising ability calculation method of unmanned plane cluster in step 3 are as follows:
Unmanned plane in addition to oiling unmanned plane is known as function unmanned plane, is obtained according to the fuel load of function unmanned plane i specified
Cruising ability ECrCalculation formula it is as follows:
In formula: i indicates unmanned plane i, OLiAnd OWiRespectively indicate the fuel load and hundred kilometric fuel consumption pers of unmanned plane i, and by OWiIf
For definite value；
ComparisonWith the task voyage Dis of unmanned plane ii, work as appearanceThe case where, then illustrate that unmanned plane itself is continued a journey
Scarce capacity, the calculation formula of cruising ability REC needed for obtaining unmanned plane cluster are as follows:
In formula: i indicates unmanned plane i, NUIndicate function unmanned plane quantity, DisiIndicate the task voyage of unmanned plane i,For nothing
The specified cruising ability of man-machine i, OWiIndicate hundred kilometric fuel consumption pers of unmanned plane i.
6. the isomery unmanned plane cluster of task based access control demand as described in claim 1 cooperates with optimal configuration method, feature exists
In unmanned plane collection in step 3
Group's cruising ability calculation method are as follows:
The calculation formula of the available cruising ability AEC of oiling unmanned plane is as follows:
AEC=NO·OLO
In formula: NOAnd OLORespectively indicate the quantity and fuel load of oiling unmanned plane.
7. the isomery unmanned plane cluster of task based access control demand as described in claim 1 cooperates with optimal configuration method, feature exists
In step 4 includes the following steps:
The configuration of step 4.1 different function unmanned plane, configuration method are as follows:
Drones for surveillance is P to the probability of target successful execution taskD0, need NDFrame Drones for surveillance is performed simultaneously the target
Task just can ensure that Probability Of Mission Success reaches PDmaxMore than, then NDCalculation formula it is as follows:
In formula: PD0Indicate probability of the Drones for surveillance to target successful execution task, NDFor the quantity of Drones for surveillance, PDmaxFor
NDFrame Drones for surveillance is performed simultaneously the probability of success of task to the target；
The whole firepower efficiency total value of our unmanned plane cluster is greater than the required firepower efficiency total value of enemy, and expression formula is as follows:
In formula: PenemyFirepower efficiency value needed for indicating enemy,Indicate the firepower efficiency value of our unmanned plane cluster；
Cruising ability needed for the configuration result of oiling unmanned plane must make cluster that can be greater than battlefield with cruising ability, expression formula is such as
Under:
REC < AEC
In formula: REC indicates the required cruising ability of unmanned plane cluster, and AEC indicates the available cruising ability of unmanned plane cluster.
Step 4.2 cluster allocation optimum nonlinear integer programming model, as follows:
min(costAmmunition+costUnmanned plane)
In formula: costAmmunitionFor ammunition cost, costUnmanned planeFor unmanned plane cost, fuel oil is ignored.
8. the isomery unmanned plane cluster of task based access control demand as claimed in claim 3 cooperates with optimal configuration method, feature exists
In weight index calculating process is criterion table of being given a mark based on nine scales, construction coherent element importance of successively being given a mark by expert group
Judgment matrix, then with weighing computation method, solve the weighted value between efficiency index needed for enemy.
9. the isomery unmanned plane cluster of task based access control demand as claimed in claim 3 cooperates with optimal configuration method, feature exists
In being quantified to the attribute of qualitative description using 9 grades of quantification theories of improved G.AMiller, to the attribute of quantitative description
Using interval quantization method；9 grades of quantification theories of improved G.AMiller are specific as follows: according to quantitative or quantitative attributes reality
The minimum value of attribute is set 0 grade or 1 grade by border situation, and maximum value is set as higher 9 grades of rank, by minimum value and most
Big value is referred to as the left and right basic point in quantification gradation section；If the boundary value of quantized interval has given, can directly ask
Corresponding grade basic point out；Therefore, the quantization criterion for introducing each attribute according to bottom-up sequence is as follows:
1) C layers of index
(1) the target time of occurrence of enemy air defences combat unit
According to the when quick window of each enemy air defences unit, target time of occurrence is got.Target is gone out into current moment and unmanned plane rises
Fly the moment make it is poor, flying speed referring again to unmanned plane and with the parameters such as the distance between target, calculating unmanned plane aircraft from
The distance between target is arrived in field, and in flying speed performance interval [Vmin,Vmax] limitation under unmanned plane fly to target point
Arrival time window is estimated, wherein VmaxAnd VminThe respectively minimax speed of unmanned plane；With [ETAmin,ETAmax] window
Left and right side dividing value is respectively as 9 grades and 1 grade of basic point, and the time occurred at equal intervals to each target quantifies, wherein ETAmaxWith
ETAminArrival time is estimated for unmanned plane to target point, it is maximum according to the distance between unmanned plane and target point and unmanned plane
Minimum speed is calculated；If the target when quick time window in ETAminBefore, illustrate that the time critical target is extremely urgent, need
Preferentially to implement to hit；If when quick window in ETAmaxLater, it is later to illustrate that the target occurs, it can be to cluster in subsequent planning
Certain coordination space is reserved in the process；
(2) the when quick window size of enemy air defences combat unit
When quick window size reflection target Mission Kill chain length, the smaller degree for indicating killing chain compression is higher；It obtains first
The when quick window for taking each enemy air defences unit, compares quick window size when each target, using the smallest target of length of window as the right side
Basic point is set as 9 grades, and without when quick window requirement be that left basic point is set as 0 grade, then to each target when quick window size according to etc.
Interval is successively quantified；
2) B layers of index
(1) anti-strike capability of enemy air defences combat unit
Successively classify to enemy's combat unit according to anti-strike capability intensity classification chart；
(2) firepower of enemy air defences combat unit kills ability
Quantitative quantization successively is carried out to enemy's combat unit according to firepower killing Capability Categories table；
(3) the attack time degree of urgency of enemy air defences combat unit
The basic point that quantized interval is set by way of estimating maximin occurs in conjunction with task scene according to target the latest
Time TlateQuick window TST when with maximummaxIt is maximum similarly to calculate degree it is pressed for time for the minimum value for calculating attack time degree of urgency
Value, and using the two as 1 grade~9 grades basic points.
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