CN111190433A - Unmanned aerial vehicle cluster confrontation competition judging method - Google Patents
Unmanned aerial vehicle cluster confrontation competition judging method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle cluster confrontation competition judging method, and relates to the technical field of unmanned aerial vehicle competition. The cluster confrontation competition evaluation method comprises the steps that a ground evaluation system receives position and posture information of all unmanned aerial vehicles in real time and broadcasts the position information of all unmanned aerial vehicles to an opposite ground station module in real time, cluster confrontation tactics are respectively formulated by unmanned aerial vehicle clusters of both red and blue sides, own unmanned aerial vehicle is commanded to virtually attack an opposite unmanned aerial vehicle, the virtual attack mode is that the opposite unmanned aerial vehicle is aimed at to launch virtual ammunition, the virtual ammunition range is 100 meters, the duration time is 1 second, the number of the virtual ammunitions of each unmanned aerial vehicle is 10, and the time information launched each time is sent to the ground evaluation module in real time; the ground evaluation module carries out hit evaluation according to the positions of the unmanned aerial vehicles of the red and blue parties when receiving the virtual ammunition launching time information, if the virtual ammunition lasts for 1 second and the unmanned aerial vehicle of the other party exists in the range of the virtual ammunition, the target is judged to be hit, and if the virtual ammunition does not hit, the target is judged to be missed; and after the competition time is 10 minutes, the total number of unmanned aerial vehicles of the opposite sides of the two sides respectively hitting the opposite sides of the multiple sides is judged as a winning or losing basis. By adopting the method, the judgment scores in the unmanned aerial vehicle cluster confrontation competition are realized, and the cluster confrontation algorithm can be quantitatively evaluated.
Description
Technical Field
The invention relates to an unmanned aerial vehicle cluster confrontation competition judging method, and relates to the technical field of unmanned aerial vehicle competition.
Background
In order to quantitatively evaluate the unmanned aerial vehicle clustering technology, especially the capability of the unmanned aerial vehicle clustering resisting technology, a competition mode can be adopted, and therefore an unmanned aerial vehicle clustering competition judging method needs to be designed. The conventional unmanned aerial vehicle competition judging system and method usually adopt a sensor to judge the flight trajectory of a single unmanned aerial vehicle, and for example, patents CN109045661A and CN107316352A provide a device and a method for judging the flight trajectory of a single unmanned aerial vehicle competition. There is no relevant judgment method for the unmanned group competition.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle cluster confrontation competition evaluation method for quantitatively evaluating an unmanned aerial vehicle cluster confrontation technology.
In order to achieve the purpose, the invention discloses an unmanned aerial vehicle cluster confrontation competition judging method which is characterized by comprising two groups of cluster unmanned aerial vehicles of red and blue, two ground station modules of red and blue and a ground judging module, wherein each unmanned aerial vehicle is provided with a positioning and attitude determining module and a communication module, and the ground station modules and the ground judging module are connected through a network.
The method for judging the confrontation of the unmanned aerial vehicle cluster comprises the following steps:
the method comprises the following steps: the ground evaluation module issues a takeoff instruction to the unmanned aerial vehicle cluster of the red and blue parties, and the competition starts after the two parties reach the designated aerial position;
step two: each unmanned aerial vehicle in the red and blue unmanned aerial vehicle cluster sends the position and the attitude information of the unmanned aerial vehicle to each ground station module in real time, and the red and blue ground station modules receive the information and then forward the position and the attitude information of each unmanned aerial vehicle in the unmanned aerial vehicle cluster to the ground judgment module in real time;
step three: the ground evaluation module sends the position information of each unmanned aerial vehicle of the opposite party participating in the competition to the red and blue ground station modules;
step four: according to the position and attitude information of the existing unmanned aerial vehicle and the position information of the opposite unmanned aerial vehicle, the unmanned aerial vehicle clusters of the red and blue parties respectively formulate a cluster countermeasure tactic to command the existing unmanned aerial vehicle to virtually attack the opposite unmanned aerial vehicle, the virtual attack mode is to aim at the opposite unmanned aerial vehicle to launch virtual ammunition, the range of the virtual ammunition is 100 meters, the duration is 1 second, and the number of the virtual ammunition of each unmanned aerial vehicle is 10;
step five: the method comprises the following steps that the red and blue ground station modules send launching time information to a ground judgment module in real time when virtual ammunition is launched each time, the ground judgment module receives the virtual ammunition launching time information and then carries out hit judgment according to the positions of unmanned aerial vehicles of the red and blue ground station modules, if the fact that the unmanned aerial vehicle of the opposite side exists in an effective attack area within the range of the virtual ammunition within 1 second of the duration of the virtual ammunition is judged, a hit target is judged, and if the fact that the unmanned aerial vehicle of the opposite side does not exist in the effective;
step six: after the competition time is over, the total number of unmanned aerial vehicles of both sides respectively hitting down the opposite side is judged as a winning or losing basis;
compared with the prior art, the invention has the beneficial effects that: the method adopts a virtual ammunition launching mode to judge whether the aerial unmanned aerial vehicle cluster confrontation hits the target, realizes the judgment score in the unmanned aerial vehicle cluster confrontation competition, and can carry out quantitative evaluation on the cluster confrontation technology.
Drawings
FIG. 1 is a flow chart of the evaluation system;
FIG. 2 is a diagram of a game evaluation system architecture;
FIG. 3 is a schematic diagram of an effective attack area and an attacked area;
fig. 4 is a schematic diagram of evaluation when a plurality of opposite unmanned aerial vehicles exist in the effective attack area.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
FIG. 1 is a flow chart of the operation of the judging system, wherein a ground judging module issues a takeoff instruction to a cluster of red and blue two-party unmanned aerial vehicles, after the cluster of the two-party unmanned aerial vehicles starts to reach a designated aerial position after a competition between the two parties, each unmanned aerial vehicle in the cluster of the two-party unmanned aerial vehicles sends local position and attitude information to a respective ground station module in real time, the two red and blue ground station modules receive the local position and attitude information and forward the position and attitude information of each unmanned aerial vehicle in the cluster of the unmanned aerial vehicles, the ground judging module sends the position information of each unmanned aerial vehicle in a competition team of the opposite party to the red and blue two-party unmanned aerial vehicles, the cluster of the red and blue two-party unmanned aerial vehicles respectively makes a cluster countermeasure tactic according to the position and attitude information of the own unmanned aerial vehicle and the position information of the opposite unmanned aerial vehicle, the own unmanned aerial, the virtual ammunition range is 100 meters, the duration is 1 second, the number of the virtual ammunitions of each unmanned aerial vehicle is 10, the firing time information is sent to the ground judging module in real time by the two red and blue ground station modules when the virtual ammunition is fired each time, the ground judging module receives the firing time information of the virtual ammunition and then carries out hit judgment according to the positions of the unmanned aerial vehicles of the red and blue parties, if the fact that the unmanned aerial vehicle of the other party exists in an effective attack area within the virtual ammunition range within 1 second of the duration of the virtual ammunition is judged, a hit target is judged, otherwise, miss is judged, and the total number of the unmanned aerial vehicles of the other party which are respectively hit down by the two parties after the match time is over.
Fig. 2 shows a structure diagram of a competition evaluation system, which is composed of two groups of red and blue cluster unmanned aerial vehicles, two ground station modules of red and blue and a ground evaluation module, wherein each unmanned aerial vehicle is provided with a positioning and attitude determination module and a communication module, and the ground station modules and the ground evaluation module are connected through a network.
Fig. 3 is a schematic diagram of an effective attack area and an attacked area, the effective attack area is set to be within a 30-degree conical range in front of the axis of the unmanned aerial vehicle taking the intersection point of the axis of the unmanned aerial vehicle and the perpendicular line of the center of gravity as the center of the axis of the unmanned aerial vehicle, the effective attack distance is 100 meters, and the effective attacked area can be set to be within a 60-degree conical range behind the axis of the unmanned aerial vehicle taking the intersection point of the axis of the unmanned aerial vehicle and the perpendicular line.
Fig. 4 is a schematic diagram showing evaluation when a plurality of opposite-side unmanned aerial vehicles exist in the effective attack area, and when a plurality of opposite-side unmanned aerial vehicles exist in the effective attack area of virtual ammunition, only one opposite-side unmanned aerial vehicle can be judged to be hit when the virtual ammunition is launched each time, and the hit unmanned aerial vehicle is the nearest unmanned aerial vehicle.
The preferred embodiments and examples of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present invention.
Claims (7)
1. The utility model provides a method for judging confrontation competition of unmanned aerial vehicle cluster, includes that red blue two sets of cluster unmanned aerial vehicles, red blue two ground station modules and ground judge the module and constitute, is equipped with location appearance module and communication module on every unmanned aerial vehicle, and ground station module and ground judge the module and pass through network connection, its characterized in that includes following step:
the method comprises the following steps: the ground evaluation module issues a takeoff instruction to the unmanned aerial vehicle cluster of the red and blue parties, and the competition starts after the two parties reach the designated aerial position;
step two: each unmanned aerial vehicle in the red and blue unmanned aerial vehicle cluster sends the position and the attitude information of the unmanned aerial vehicle to each ground station module in real time, and the red and blue ground station modules receive the information and then forward the position and the attitude information of each unmanned aerial vehicle in the unmanned aerial vehicle cluster to the ground judgment module in real time;
step three: the ground evaluation module sends the position information of each unmanned aerial vehicle of the opposite party participating in the competition to the red and blue ground station modules;
step four: according to the position and attitude information of the own unmanned aerial vehicle and the position information of the opposite unmanned aerial vehicle, the unmanned aerial vehicle clusters of the red and blue parties respectively formulate a cluster countermeasure tactic to command the own unmanned aerial vehicle to virtually attack the opposite unmanned aerial vehicle, the virtual attack mode is to aim at the opposite unmanned aerial vehicle to launch virtual ammunition, the range of the virtual ammunition is 100 meters, the duration is 1 second, and the number of the virtual ammunition of each unmanned aerial vehicle is 10;
step five: the method comprises the following steps that the red and blue ground station modules send launching time information to a ground judgment module in real time when virtual ammunition is launched each time, the ground judgment module receives the virtual ammunition launching time information and then carries out hit judgment according to the positions of unmanned aerial vehicles of the red and blue ground station modules, if the fact that the virtual ammunition lasts within 1 second and the unmanned aerial vehicle of the opposite side exists in the range of the virtual ammunition is judged, a hit target is judged, and if the fact that the virtual ammunition does not hit is judged;
step six: and after the competition time is over, the total number of the unmanned aerial vehicles of the opposite sides knocked down by the two sides is judged as a winning or losing basis.
2. The method of claim 1, wherein the frequency of sending the position and posture information of each drone to the respective ground station module in real time is 1Hz to 20 Hz.
3. The method of claim 1, wherein the positioning and attitude determination module employs differential GPS or differential beidou positioning.
4. The method as claimed in claim 1, wherein the drone is a drone virtualized by simulation software.
5. The method as claimed in claim 1, wherein the virtual ammunition is configured to have an active attack area and an attacked area.
6. The virtual ammunition of claim 5 can be provided with an effective attack area and an attacked area, wherein the effective attack area of the virtual ammunition is set to be within a conical range of 30 degrees in front of the axis of the unmanned aerial vehicle body by taking the intersection point of the axis of the unmanned aerial vehicle body and the vertical line of the center of gravity as a center of the axis of the unmanned aerial vehicle body, and the effective attacked area is set to be within a conical range of 60 degrees behind the axis of the unmanned aerial vehicle body by taking the intersection point of the axis of the unmanned aerial vehicle body and the vertical.
7. The virtual ammunition of claim 5 can be provided with an effective attack area and an attacked area, wherein when a plurality of unmanned aerial vehicles at opposite sides exist in the effective attack area of the virtual ammunition, only one unmanned aerial vehicle at opposite sides can be judged to be hit when the virtual ammunition is launched each time, and the hit unmanned aerial vehicle is the nearest unmanned aerial vehicle.
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| CN112357084A (en) * | 2020-11-06 | 2021-02-12 | 任竹阳 | Unmanned aerial vehicle live-action simulation combat system |
| CN112578685A (en) * | 2020-12-10 | 2021-03-30 | 沈阳航空航天大学 | Unmanned aerial vehicle cluster countermeasure simulation method based on cascading failure |
| CN113627723A (en) * | 2021-07-05 | 2021-11-09 | 郑州云智信安安全技术有限公司 | Data layer system of information security attack and defense platform |
| CN115310345A (en) * | 2022-06-23 | 2022-11-08 | 中国人民解放军军事科学院国防科技创新研究院 | Artificial potential field-based intelligent algorithm evaluation method and device |
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Application publication date: 20200522 |