CN110531784A - A kind of intimidation estimating method for unmanned vehicle - Google Patents
A kind of intimidation estimating method for unmanned vehicle Download PDFInfo
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- CN110531784A CN110531784A CN201910825830.0A CN201910825830A CN110531784A CN 110531784 A CN110531784 A CN 110531784A CN 201910825830 A CN201910825830 A CN 201910825830A CN 110531784 A CN110531784 A CN 110531784A
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- threat
- unmanned vehicle
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- safety zone
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
Abstract
The present invention relates to unmanned vehicle defense technique fields, more particularly to a kind of unmanned vehicle threat assessment field, input module, communication and navigation module, threat assessment module, output module and track and identify module, the information such as position, height, speed, direction, flight angle and the climb rate of unmanned plane can be collected simultaneously, information is transmitted back to ground intelligent control system, it is compared by algorithms library, judge its threat degree M, when triggering threat assessment algorithm is the output for calculating threat level W by weighted sum and carrying out calculated result, calculation method W=K1M+K2M2+K3M3, wherein K is weight, K1+K2+K3=1, output module will be arranged according to the mode of threat level from high to low, when threat level is higher, video priority, which exports while carrying out voice broadcast, reminds operator, it prevents from neglecting because of operator and leads to miss high the case where threatening unmanned vehicle, immediately it solves the problems, such as that unmanned vehicle system of defense cannot find high threat unmanned vehicle in time, improves disposition efficiency.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of intimidation estimating methods for unmanned vehicle.
Technical background
Currently available technology is in for the monitoring of unmanned vehicle to be compared on passively position, is only monitored nobody and is flown
Row device, which enters no-fly zone or has already appeared the operation with menace, can just take measures to carry out control reply, to unmanned flight
The assessment of device predictability can only judge according to the experience of staff, determine that the accuracy rate of result also can be due to individual difference
Difference also will increase the judgement identification difficulty of staff, even if having tight when having multiple targets to enter in monitoring area simultaneously
Anxious situation reaction disposing capacity also can be poor, to the disposition inefficiency of emergency situations.
Summary of the invention
The present invention provides a kind of intimidation estimating method for unmanned vehicle, mesh with deficiency in view of the above problems
Be solve prior art problem, a kind of appraisal procedure of the threat level of quick identification decision unmanned vehicle is provided.
To achieve the above object, the invention provides the following technical scheme:
A kind of intimidation estimating method for unmanned vehicle, it is characterised in that: the method includes to threaten to attempt judgement
Judge with threat degree, wherein
The threat attempt judges that inclusion region differentiates, course distance and angular stack determine；
The threat degree judgement is comprising reaching Time Method, relative distance criterion, relative bearing criterion；
The area judging is that no-fly zone and safety zone are divided in the airspace of monitoring, when unmanned vehicle enters no-fly zone
It is judged to threatening target, is determined as non-threat target when unmanned vehicle flight in safety zone；
The course distance is judged to flying in safety zone when unmanned vehicle with angular stack, and unmanned vehicle flies
When line direction is biased to no-fly zone and flight angle less than 60 °, it is judged to threatening target, is otherwise non-threat target.
The arrival time criterion is that the time that target arrives at the destination is calculated according to the information of discovery target,
When actual time of arrival shorter threat degree is higher；
The relative distance criterion is that no-fly zone, precautionary areas and safety zone are divided in monitoring area, threat degree according to
It is secondary from high to low；
The relative bearing criterion is true according to bogey heading and the angle for assuming that he flies nonstop between holding bogey heading
Determine threat level.
A kind of intimidation estimating method for unmanned vehicle as described in claim 1, determination step are as follows: (1) according to receipts
The time t that the data calculating target of collection reaches, calculation formula t=r/v ' (r is distance of the target away from detecting devices of discovery,
The space rate of target)
(2) the heading angle of target is calculated
According to the specific location interpretation threat level d of target, (safety zone > precautionary areas > no-fly zone), rank is maintained in safety zone
Highest；Utilize weighing computation method:Formula calculate k1+k2+k3=1；
The setting method of the weight includes that primary and secondary index is lined up classification.
The advantages and positive effects of the present invention are: by the issuable threat of unmanned vehicle carry out assessment and will be each
Kind situation divides threat level, feelings after entering unmanned vehicle in monitoring area with the intimidation estimating method of unmanned vehicle
Condition is matched, and is impended deciding degree to the integrated status of target unmanned vehicle, and staff can be made pre- ahead of time
The emergency of anti-burst, and effective defensive measure is taken to emergency situations.
Specific embodiment
Below in conjunction with specific embodiment, the invention will be further described.
A kind of intimidation estimating method for unmanned vehicle, it is characterised in that: the method includes to threaten to attempt judgement
Judge with threat degree, wherein
The threat attempt judges that inclusion region differentiates, course distance and angular stack determine；
The threat degree judgement is comprising reaching Time Method, relative distance criterion, relative bearing criterion；
The area judging is that no-fly zone and safety zone are divided in the airspace of monitoring, when unmanned vehicle enters no-fly zone
It is judged to threatening target, is determined as non-threat target when unmanned vehicle flight in safety zone；
The course distance is judged to flying in safety zone when unmanned vehicle with angular stack, and unmanned vehicle flies
When line direction is biased to no-fly zone and flight angle less than 60 °, it is judged to threatening target, is otherwise non-threat target.
The arrival time criterion is that the time that target arrives at the destination is calculated according to the information of discovery target,
When actual time of arrival shorter threat degree is higher；Using the central point where detecting devices as center of circle o, with the target of discovery away from
The distance of center of circle o is as radius r, and it is center of circle r as on the circle c of radius that the target one found at this time, which is scheduled on one using o, according to measurement
Speed v out has direction and size, tangential direction and method of this speed in circle c then the speed is vector in mathematics
After line direction projection, the vector of a normal direction is obtained, which indicates space rate v ', then radius r indicates that nobody flies
Row device passes through t=r/v ' to the distance of center of circle o at this time, obtains arrival time, is ranked up the t of target is ascending, then
The smaller threat of t is bigger.
The relative distance criterion is that no-fly zone, precautionary areas and safety zone are divided in monitoring area, threat degree according to
It is secondary from high to low；
The relative bearing criterion is true according to bogey heading and the angle for assuming that he flies nonstop between holding bogey heading
Determine threat level, using the central point where detecting devices as center of circle o, distance using the target of discovery away from center of circle o is as radius
R, it is center of circle r as on the circle c of radius that the target one found at this time, which is scheduled on one using o, according to track information determine heading with
Afterwards, the smaller Threat of included angle between the heading and normal is bigger.
A kind of intimidation estimating method for unmanned vehicle, determination step are as follows:
(1) the time t that target reaches is calculated according to the data of collection, (r is the target of discovery to calculation formula t=r/v '
Distance away from detecting devices, the space rate of target)
(2) the heading angle of target is calculated
According to the specific location interpretation threat level d of target, (safety zone > precautionary areas > no-fly zone), rank is maintained in safety zone
Highest；Utilize weighing computation method:Formula calculate k1+k2+k3=1；
The setting of the setting method of the weight, the weight can be directly arranged by the experience of staff, or
Classification setting is lined up according to primary and secondary index；
The primary and secondary index is lined up classification are as follows:
| Serial number | Attribute | Significance level |
| 1 | Region | 1 |
| 2 | Heading | 2 |
| 3 | Arrival time | 3 |
The issuable threat of unmanned vehicle is subjected to assessment and various situations are divided into threat level, works as monitoring area
It is interior into being matched with the case where intimidation estimating method of unmanned vehicle after unmanned vehicle, and to target unmanned vehicle
Integrated status impend deciding degree, staff can be made to do sth. in advance to prevent the emergency of burst, and to emergency situations
Take effective defensive measure.
By analyzing collected information, the threat degree for obtaining all data is compared with algorithms library, triggering threatens
Assessment algorithm is calculated, it was therefore concluded that is exported, staff can be according to the data point reuse early warning scheme of output, the calculation
Faku County be by largely calculate intimidation estimating method is digitized after be stored in threat assessment module, algorithms library is to threat degree
The judgement of M includes: that the time judgement, flight orientation judgement, flight angle judgement, flight speed of no-fly zone are swarmed into target aircraft
Judgement, judgement of distance etc. are spent, is judged by setting warning value, general mode is that target aircraft swarms into no-fly zone
Time is shorter, flight angle less than 60 degree, flying speed it is faster, angle between flight course and defending target course is smaller,
Closer apart from no-fly zone, threat degree is higher.
The threat level W is calculated by weighted summation, and weight includes time weighting, orientation weight, flies
Scanning frequency degree weight, distance weighting etc., calculation method W=K1M+K2M2+K3M3,K1+K2+K3=1 wherein arrival time obtain
Threat level weight is higher than the threat level weight of relative bearing judgement.
Flight range is divided into 3 parts according to demand, is divided into safety zone, precautionary areas and no-fly zone, threat level
For no-fly zone > precautionary areas > safety zone, preferentially it is judged as threat target when unmanned vehicle swarms into precautionary areas, collects nobody and fly
The information such as row device flight orientation, position, speed, by being compared with the algorithms library of ground intelligent control system, when triggering prestige
It calculates when coercing assessment algorithm and exports its threat level.
In one embodiment, pass through after unmanned vehicle A swarms into precautionary areas and judge flight angle α whether less than 60
Angle β size and flying speed, distance between degree, flight course and defending target course etc. judge whether it is threat mesh
Mark, for example threat target then trigger threat assessment algorithm, export threat level, when unmanned vehicle A and B swarms into precautionary areas simultaneously
When by judging whether it is threat target respectively, such as belong to simultaneously when threatening target through threat level estimation, preferentially export prestige
Coerce the higher unmanned vehicle information of grade ranking.
Claims (2)
1. a kind of intimidation estimating method for unmanned vehicle, it is characterised in that: the method include threaten attempt judgement and
Threat degree judgement, wherein
The threat attempt judges that inclusion region differentiates, course distance and angular stack determine；
The threat degree judgement is comprising reaching Time Method, relative distance criterion, relative bearing criterion；
The area judging is that no-fly zone and safety zone are divided in the airspace of monitoring, is determined when unmanned vehicle enters no-fly zone
To threaten target, it is determined as non-threat target when unmanned vehicle flight in safety zone；
The course distance is judged to flying in safety zone when unmanned vehicle with angular stack, the flight side of unmanned vehicle
To when being biased to no-fly zone and flight angle less than 60 °, it is judged to threatening target, is otherwise non-threat target.
The arrival time criterion is that the time that target arrives at the destination is calculated, works as reality according to the information of discovery target
Border arrival time is shorter, and threat degree is higher；
The relative distance criterion is that no-fly zone, precautionary areas and safety zone are divided in monitoring area, threat degree successively by
It is high to low；
The relative bearing criterion is to determine prestige according to bogey heading and the angle for assuming that he flies nonstop between holding bogey heading
Coerce grade.
2. a kind of intimidation estimating method for unmanned vehicle as described in claim 1, it is characterised in that: determination step is
(1) the time t that target reaches is calculated according to the data of collection, (r is the target of discovery away from spy to calculation formula t=r/v '
The distance of measurement equipment, the space rate of target)
(2) the heading angle of target is calculated
According to the specific location interpretation threat level d of target, (safety zone > precautionary areas > no-fly zone), rank is maintained most in safety zone
It is high；Utilize weighing computation method:Formula calculate k1+k2+k3=1；
The setting method of the weight includes that primary and secondary index is lined up classification.
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| CN111413681A (en) * | 2020-04-30 | 2020-07-14 | 柳州达迪通信技术股份有限公司 | Flight target threat degree identification method and system based on entropy weight method and storage medium |
| CN111413680A (en) * | 2020-04-30 | 2020-07-14 | 柳州达迪通信技术股份有限公司 | Flight target threat degree identification method, system and device based on analytic hierarchy process |
| CN111583083A (en) * | 2020-05-13 | 2020-08-25 | 飒铂智能科技有限责任公司 | Method and system for determining degree of threat to ground by non-cooperative target in low-altitude flight |
| CN111596277A (en) * | 2020-04-30 | 2020-08-28 | 柳州达迪通信技术股份有限公司 | Flight target threat degree identification method and system based on fuzzy comprehensive evaluation method |
| CN111612673A (en) * | 2020-05-13 | 2020-09-01 | 飒铂智能科技有限责任公司 | Method and system for confirming threat degree of unmanned aerial vehicle to multiple grounds |
| CN111780620A (en) * | 2020-06-16 | 2020-10-16 | 暨南大学 | Unmanned aerial vehicle potential threat determination method |
| CN112053089A (en) * | 2020-09-27 | 2020-12-08 | 中国核电工程有限公司 | Low-altitude threat analysis and consequence evaluation method and device based on nuclear power plant |
| CN114139373A (en) * | 2021-11-30 | 2022-03-04 | 中航空管系统装备有限公司 | Multi-sensor automatic cooperative management method for unmanned aerial vehicle reverse braking |
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| CN111413681B (en) * | 2020-04-30 | 2023-06-30 | 柳州达迪通信技术股份有限公司 | Method, system and storage medium for identifying threat degree of flying target based on entropy weight method |
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| CN111413681A (en) * | 2020-04-30 | 2020-07-14 | 柳州达迪通信技术股份有限公司 | Flight target threat degree identification method and system based on entropy weight method and storage medium |
| CN111612673A (en) * | 2020-05-13 | 2020-09-01 | 飒铂智能科技有限责任公司 | Method and system for confirming threat degree of unmanned aerial vehicle to multiple grounds |
| CN111583083A (en) * | 2020-05-13 | 2020-08-25 | 飒铂智能科技有限责任公司 | Method and system for determining degree of threat to ground by non-cooperative target in low-altitude flight |
| CN111612673B (en) * | 2020-05-13 | 2023-12-15 | 飒铂智能科技有限责任公司 | Method and system for confirming threat degree of unmanned aerial vehicle to multiple places |
| CN111583083B (en) * | 2020-05-13 | 2023-12-19 | 飒铂智能科技有限责任公司 | Method and system for determining threat degree of non-cooperative targets in low-altitude flight to ground |
| CN111780620B (en) * | 2020-06-16 | 2022-07-26 | 暨南大学 | Unmanned aerial vehicle potential threat determination method |
| CN111780620A (en) * | 2020-06-16 | 2020-10-16 | 暨南大学 | Unmanned aerial vehicle potential threat determination method |
| CN112053089A (en) * | 2020-09-27 | 2020-12-08 | 中国核电工程有限公司 | Low-altitude threat analysis and consequence evaluation method and device based on nuclear power plant |
| CN114139373A (en) * | 2021-11-30 | 2022-03-04 | 中航空管系统装备有限公司 | Multi-sensor automatic cooperative management method for unmanned aerial vehicle reverse braking |
| CN114139373B (en) * | 2021-11-30 | 2024-04-12 | 中航空管系统装备有限公司 | Multi-sensor automatic collaborative management method for unmanned aerial vehicle reverse vehicle |
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