CN111413680B - Flight target threat degree identification method, system and device based on analytic hierarchy process - Google Patents
Flight target threat degree identification method, system and device based on analytic hierarchy process Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The invention discloses a flight target threat degree identification method, a flight target threat degree identification system and a flight target threat degree identification device based on an analytic hierarchy process, wherein the method comprises the following steps: radar data is acquired, wherein the radar data comprises batch starting data of a plurality of flying targets; updating a record table of the flying target according to the batch starting data, and normalizing the batch starting data; and calculating a threat degree value corresponding to the flying target by combining the normalized batch starting data and the analytic hierarchy process to obtain a threat degree identification result. According to the invention, the radar data is acquired, normalized, and then the threat degree value corresponding to each flying target is calculated by the analytic hierarchy process, and the recognition result is output, so that the method can effectively assist management staff to manage the low-altitude security area, and can be widely applied to the technical fields of radar data detection and low-altitude security.
Description
Technical Field
The invention relates to the technical field of detection radar data processing and low-altitude security, in particular to a flight target threat degree identification method, a flight target threat degree identification system and a flight target threat degree identification device based on a analytic hierarchy process.
Background
"Low-low" flying objects (e.g., aircraft) refer to aircraft and airborne drift that have all or part of the characteristics of "low-altitude ultra-low-altitude flight, slower flight speed, less likely to be detected by radar" and the like. The low speed is totally called as a low-altitude, low-speed and small-sized flying target (such as an unmanned aerial vehicle), the flying height is generally below 1000 meters, the speed is low, and the radar reflection area is small; the flight speed is generally less than 200 km/h, and the radar reflection area (RCS) is less than 1 square meter; therefore, the low-low flying object brings the problems of difficult control, difficult detection and difficult treatment in the field of low-altitude security.
At present, in the field of low-altitude security and protection in China, aiming at a 'low-speed and small' flying target which is disordered and unsupervised and abused to fly, a relatively general method is to scan parameters such as distance, speed and azimuth of the 'low-speed and small' flying target by adopting a sensing equipment system such as a detection radar equipment system or a radio positioning equipment system. However, because the low-altitude flight and the track change of the 'low-low' flight target are quick, the 'low-low' flight target needs to be judged in a short time, and the general radar equipment can only scan data and does not identify the threat of the flight target, and the threat needs to be identified manually, so that the management is not facilitated.
Noun interpretation:
analytical hierarchy process: analytic Hierarchy Process (abbreviated AHP) is a multi-criteria decision method of qualitative and quantitative combined analysis proposed by the American well-known operator T.L. Satty et al in the 70 s of the 20 th century.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a flight target threat degree identification method, a flight target threat degree identification system and a flight target threat degree identification device based on an analytic hierarchy process.
The technical scheme adopted by the invention is as follows:
a flying target threat degree identification method based on an analytic hierarchy process comprises the following steps:
radar data is acquired, wherein the radar data comprises batch starting data of a plurality of flying targets;
updating a record table of the flying target according to the batch starting data, and normalizing the batch starting data;
and calculating a threat degree value corresponding to the flying target by combining the normalized batch starting data and the analytic hierarchy process to obtain a threat degree identification result.
Further, the starting data includes a target course angle, a target distance, a target course speed and a radar reflection sectional area, and the normalizing processing of the starting data includes:
non-dimensionality processing is carried out on parameters in starting batch data by adopting a membership function, so that a membership value of a target course angle, a membership value of a target distance, a membership value of a target course speed and a membership value of a radar reflection sectional area are obtained;
the membership value of the target course angle, the membership value of the target distance, the membership value of the target course speed and the membership value of the radar reflection sectional area are constrained in dimensionless data between 0 and 1.
Further, the method also comprises the step of obtaining the weight of the judgment index of the threat degree of the flying target, which comprises the following specific steps:
determining judgment indexes of threat degrees of flying targets, wherein the judgment indexes comprise a target course angle, a target distance, a target course speed and a radar reflection sectional area;
constructing a judgment matrix according to the judgment index;
and calculating the weight of the judgment index according to the judgment matrix.
Further, the method also comprises the step of effectively authenticating the weight, specifically:
calculating the maximum characteristic root of the judgment matrix by combining the judgment matrix and the weight;
calculating and judging a deviation consistency index of the matrix according to the maximum characteristic root;
acquiring an average random consistency index, and acquiring a random consistency ratio by combining the deviation consistency index and the average random consistency index;
it is determined that the random consistency ratio is detected to be smaller than the threshold value, and the weight is determined to be valid.
Further, the calculating the threat degree value corresponding to the flying target by combining the normalized batch data and the analytic hierarchy process to obtain the threat degree identification result comprises the following steps:
and calculating a threat degree value corresponding to the flying target by combining the membership value of the target course angle, the membership value of the target distance, the membership value of the target course speed, the membership value of the radar reflection sectional area and the weight to obtain a threat degree identification result.
Further, the step of calculating the membership value of the target heading speed comprises the following steps:
combining the target course speed and a first preset formula to obtain a membership value of the target course speed;
the first preset formula is:
wherein v is the target heading speed, and the value of u (v) is between [0.1,1 ].
Further, the step of calculating the membership value of the radar reflection sectional area comprises the following steps:
combining the radar reflection cross section area and a second preset formula to obtain a membership value of the radar reflection cross section area;
the second preset formula is:
β(s)＝0.9(1-e (-2s) )+0.1
wherein s is the radar reflection sectional area, and the value of beta(s) is between 0.1 and 1.
Further, the calculating step of the membership value of the target course angle comprises the following steps:
combining the target course angle with a third preset formula to obtain a membership value of the target course angle;
the third preset formula is:
wherein θ is a target distance, and a (θ) has a value of between [0,1 ].
Further, the step of calculating the membership value of the target distance comprises the following steps:
combining the target distance and a fourth preset formula to obtain a membership value of the target distance;
the fourth preset formula is:
wherein r is the target distance, and d (r) has a value between [0,1 ].
Further, the starting data includes a starting number, and the updating processing of the record table of the flying target according to the starting data includes:
judging whether the corresponding flight target parameters exist in the record table according to the batch starting number, and if so, updating the flight target parameters according to the batch starting data; and otherwise, increasing the parameter of the flying target in the record table according to the starting data.
The invention adopts another technical scheme that:
a analytic hierarchy process-based threat level identification system for a flying target, comprising:
the data acquisition module is used for acquiring radar data, wherein the radar data comprises batch starting data of a plurality of flight targets;
the data processing module is used for updating the record table of the flying target according to the batch starting data and normalizing the batch starting data;
the recognition module is used for calculating threat degree values corresponding to the flight targets by combining the normalized batch starting data and the analytic hierarchy process to obtain threat degree recognition results.
The invention adopts another technical scheme that:
a device for identifying threat level of a flying object based on analytic hierarchy process, comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the method described above.
The beneficial effects of the invention are as follows: according to the invention, the radar data is acquired, normalized, and then threat degree values corresponding to all flight targets are calculated by the analytic hierarchy process, and the recognition result is output, so that management staff can be effectively assisted to manage the low-altitude security area.
Drawings
FIG. 1 is a flow chart of steps of a method for identifying threat level of a flying object based on analytic hierarchy process in an embodiment;
FIG. 2 is a block diagram of a system for identifying threat level of a flying target based on analytic hierarchy process in an embodiment;
FIG. 3 is a structural schematic diagram of a "low slow" flight objective threat level analysis in an embodiment.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
As shown in fig. 1, the embodiment provides a flight target threat degree identification method based on an analytic hierarchy process, which is used for an upper computer and comprises the following steps:
s1, radar data are acquired, wherein the radar data comprise starting batch data of a plurality of flying targets.
The radar data are data obtained from radar equipment, and the radar data comprise batch starting data of a plurality of detected flight targets; the starting data is a group of reconnaissance parameters of a flying target determined after reconnaissance by radar equipment, and represents the basic condition of the flying target; the batch starting data comprise target course angle, target distance, target course speed, radar Cross Section (RCS) and the like. In this embodiment, the radar data may be obtained by interrupting the reception of the scout result of the probe radar by using UDP/IP. The host computer is a device having data processing capability, such as a computer or a server, and is not limited herein. The target course angle is the azimuth angle of the flying course of the flying target; the target distance is the distance between the flying target and the center of the warning area; the target course speed is the speed of the flying target flying course; the RCS (Radar Cross Section) is the radar cross-sectional area of the flying object.
S2, updating the record table of the flying target according to the batch starting data, and normalizing the batch starting data.
After receiving the batch starting data, carrying out data updating operation, specifically: judging whether the corresponding flight target parameters exist in the record table according to the batch starting number, and if so, updating the flight target parameters according to the batch starting data; and otherwise, increasing the parameter of the flying target in the record table according to the starting data. The start lot number is a serial number set for a set of start lot data.
After updating the data in the record list, carrying out data normalization processing, and specifically comprising the following steps:
non-dimensionality processing is carried out on parameters in the starting batch data by adopting a membership function, so that a membership value of a target course angle, a membership value of a target distance and a membership value of a target course speed are obtained;
the membership value of the target course angle, the membership value of the target distance and the membership value of the target course speed are constrained in dimensionless data between 0 and 1.
The threat assessment index can be characterized in that the original data can be quantitative or qualitative, and have different dimensions and magnitude orders, which has adverse effect on threat discrimination of a flying target, so that before threat discrimination, it is necessary to normalize the original parameters serving as discrimination indexes, so that the value variation range of the original parameters is constrained in dimensionless data between 0 and 1. The membership function can be used for data normalization, and other functions can be used for data normalization. The specific target course angle, target distance and target course speed are processed as follows:
(1) And (3) processing target course speed value judgment indexes, wherein the higher the flying speed of a flying target is, the higher the threat degree is, and the target course speed is processed by adopting an ascending index. The method comprises the following steps: and combining the target course speed with a first preset formula to obtain a membership value of the target course speed. The first preset formula is as follows:
v is the target course speed, the unit is meter/second, and the larger the v value is, the larger the target course membership value u (v) is; the u (v) value is between [0.1,1 ].
(2) And (3) target distance value judgment index processing, wherein the closer the flying target is to the center of the security area, the higher the threat degree is, and the security area is divided into three areas, namely a warning area, an early warning area and a disposal area from far to near, wherein the warning area distance is set to be 1km, and then the calculation formula of the target distance membership degree value is as follows:
wherein r is a target distance in meters, and when the r value is in a section larger than 1000m, the smaller the r value is, the larger the d (r) value is, and the d (r) value is between [0,1 ].
(3) And (3) processing target course angle judgment indexes, wherein the connecting line of the flight target and the central point of the warning area is used as a reference, the clockwise direction is positive, the range is minus 180 degrees, 180 degrees are adopted, and the smaller the absolute value of the course, the larger the threat degree is. And adopting a standard normal distribution function to perform conversion. The calculation formula of the membership value of the target course angle is as follows:
where θ is a target distance, and where θ=0, the value of a (θ) is equal to 1, and the larger the absolute value of θ, the smaller the value of a (θ), and the value of a (θ) is between [0,1 ].
(4) RCS (Radar Cross Section, radar cross-sectional area of flying object), assuming that the larger the RCS area, the greater the threat level of the portable potential device (such as a camera). The calculation formula of the membership value of the radar reflection sectional area is as follows:
β(s)＝0.9(1-e (-2s) )+0.1
wherein s is radar reflection sectional area, the unit is square meter, and the value of beta(s) is between [0.1,1 ].
And S3, calculating threat degree values corresponding to the flying targets by combining the normalized batch starting data and the analytic hierarchy process to obtain threat degree identification results.
Before calculating the threat degree value, the weight of the analytic hierarchy process is calculated and used as the weight of the threat degree judgment index of the flying target, and the weight is authenticated, and the method specifically comprises the following steps of:
(1) Determining threat degree judgment indexes of the flying target, wherein the threat degree judgment indexes comprise four indexes of a flying target distance, a flying target course speed, a flying target course angle and a flying target RCS.
(2) And constructing a judgment matrix according to the judgment index. Referring to fig. 3, for target layer a ("low-slow" flying target threat degree ranking), a judgment matrix a is constructed for four indexes B1 (flying target distance), B2 (flying target heading speed), B3 (flying target heading angle), B4 (flying target RCS value) using a 1-9 scale method, as follows:
wherein the 1-9 scale method is as shown in Table 1:
TABLE 1
(3) And calculating the weight of the judgment index according to the judgment matrix.
The first step: calculating the product M of each row of elements of the judgment matrix A i ' = {105,5,1/5,1/105}; such as: 105 =1×3×5×7.
And a second step of: calculating the product M i N (n is the order of the matrix, n=4) secondary root
And a third step of: calculation of
W' is the weight = {0.564,0.263,0.118,0.055 }.
(4) And authenticating the weight.
The first step: calculating the maximum characteristic root of the judgment matrix A
Calculating to obtain lambda max ＝4.1165。
And a second step of: calculating a deviation consistency index CI of the judgment matrix A:
CI＝(λ max -n)/(n-1)＝(4.1165-4)/(4-1)≈0.039
and a third step of: the average random uniformity index RI is obtained by means of a table look-up (table 2), and since n=4, ri=0.90 is obtained.
TABLE 2
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| 0.00 | 0.00 | 0.58 | 0.90 | 1.12 | 1.24 | 1.32 | 1.41 | 1.45 |
Fourth step: calculating a random consistency ratio CR:
CR＝CI/RI＝0.039/0.90≈0.04315<0.1
so that the judgment matrix A is found to have satisfactory consistency. Thus, weights W ' = {0.564,0.263,0.118,0.055} of B1 (flying target distance), B2 (flying target heading speed), B3 (flying target heading angle), and B4 (flying target RCS value) can be obtained effectively, and preparation is made for calculating the threat degree of each ' low-slow-small ' flying target in real time.
After the weight of the judging index is obtained, threat degree values of all flying targets can be calculated in real time according to the normalized starting and stopping data, and the specific calculation process is as follows:
(1) Normalizing the batch starting data through the collected unmanned plane batch starting data to obtain a membership value alpha of a target course angle i Membership value d of target distance i Membership value u of target heading speed i And a membership value beta of radar cross-sectional area i 。
(2) Calculating the real-time threat degree value T of each ' low-slow-small ' flying target by combining the weight W ' of the judging index i ：
T i ＝u i W 1 +d i W 2 +α i W 3 +β i W 4 Substituting the threat degree T into a specific numerical value to calculate the threat degree T i . Obtained threat level value T i Decision basis is provided for subsequent unmanned plane treatment with high threat degree, for example, a manager can drive a flying target according to the threat degree value or directly knock down the flying target.
As shown in fig. 2, this embodiment further provides a flight target threat degree identification system based on analytic hierarchy process, including:
the data acquisition module is used for acquiring radar data, wherein the radar data comprises batch starting data of a plurality of flight targets;
the data processing module is used for updating the record table of the flying target according to the batch starting data and normalizing the batch starting data;
the recognition module is used for calculating threat degree values corresponding to the flight targets by combining the normalized batch starting data and the analytic hierarchy process to obtain threat degree recognition results.
The flight target threat degree identification system based on the analytic hierarchy process can execute any combination implementation steps of the method embodiment of the flight target threat degree identification method based on the analytic hierarchy process, and has corresponding functions and beneficial effects.
The embodiment also provides a flight target threat degree identification device based on analytic hierarchy process, which comprises:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the method described above.
The flight target threat degree identification device based on the analytic hierarchy process can execute the flight target threat degree identification method based on the analytic hierarchy process provided by the embodiment of the invention, can execute any combination implementation steps of the embodiment of the method, and has corresponding functions and beneficial effects of the method.
It is to be understood that all or some of the steps, systems, and methods disclosed above may be implemented in software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (8)
1. A flying target threat degree identification method based on an analytic hierarchy process is characterized by comprising the following steps:
radar data is acquired, wherein the radar data comprises batch starting data of a plurality of flying targets;
updating a record table of the flying target according to the batch starting data, and normalizing the batch starting data;
calculating threat degree value corresponding to the flying target by combining the normalized batch starting data and the analytic hierarchy process,
obtaining threat degree identification results;
the batch starting data comprises a target course angle, a target distance, a target course speed and a radar reflection sectional area, and the batch starting data is normalized and comprises the following components:
non-dimensionality processing is carried out on parameters in starting batch data by adopting a membership function, so that a membership value of a target course angle, a membership value of a target distance, a membership value of a target course speed and a membership value of a radar reflection sectional area are obtained;
the membership value of the target course angle, the membership value of the target distance, the membership value of the target course speed and the membership value of the radar reflection sectional area are constrained in dimensionless data between 0 and 1;
the calculation steps of the membership value of the target heading speed are as follows:
combining the target course speed and a first preset formula to obtain a membership value of the target course speed;
the first preset formula is:
wherein v is the target heading speed, and the value of u (v) is between [0.1,1 ].
2. The method for identifying the threat level of the flying object based on the analytic hierarchy process of claim 1, further comprising the step of obtaining the weight of the judgment index of the threat level of the flying object, specifically: determining judgment indexes of threat degrees of flying targets, wherein the judgment indexes comprise a target course angle, a target distance, a target course speed and a radar reflection sectional area;
constructing a judgment matrix according to the judgment index;
and calculating the weight of the judgment index according to the judgment matrix.
3. The method for identifying the threat level of the flying object based on the analytic hierarchy process according to claim 2, further comprising the step of effectively authenticating the weight, specifically:
calculating the maximum characteristic root of the judgment matrix by combining the judgment matrix and the weight;
calculating and judging a deviation consistency index of the matrix according to the maximum characteristic root;
acquiring an average random consistency index, and acquiring a random consistency ratio by combining the deviation consistency index and the average random consistency index;
it is determined that the random consistency ratio is detected to be smaller than the threshold value, and the weight is determined to be valid.
4. The method for identifying threat level of flying object based on analytic hierarchy process of claim 3, wherein the calculating threat level value corresponding to flying object by combining normalized start batch data and analytic hierarchy process, obtaining threat level identification result comprises:
and calculating a threat degree value corresponding to the flying target by combining the membership value of the target course angle, the membership value of the target distance, the membership value of the target course speed, the membership value of the radar reflection sectional area and the weight to obtain a threat degree identification result.
5. The method for identifying the threat degree of the flying object based on the analytic hierarchy process of claim 1, wherein the step of calculating the membership value of the radar reflection sectional area is as follows:
combining the radar reflection cross section area and a second preset formula to obtain a membership value of the radar reflection cross section area;
the second preset formula is:
β(s)＝0.9(1-e (-2s) )+0.1
wherein s is the radar reflection sectional area, and the value of beta(s) is between 0.1 and 1.
6. The method for identifying the threat degree of the flying object based on the analytic hierarchy process of claim 1, wherein the step of calculating the membership value of the target course angle is as follows:
combining the target course angle with a third preset formula to obtain a membership value of the target course angle;
the third preset formula is:
wherein θ is a target heading angle, and the value of a (θ) is between [0,1 ].
7. A analytic hierarchy process-based threat level identification system for a flying target, comprising:
the data acquisition module is used for acquiring radar data, wherein the radar data comprises batch starting data of a plurality of flight targets;
the data processing module is used for updating the record table of the flying target according to the batch starting data and normalizing the batch starting data;
the recognition module is used for calculating threat degree values corresponding to the flight targets by combining the normalized batch starting data and the analytic hierarchy process to obtain threat degree recognition results;
the batch starting data comprises a target course angle, a target distance, a target course speed and a radar reflection sectional area, and the batch starting data is normalized and comprises the following components:
non-dimensionality processing is carried out on parameters in starting batch data by adopting a membership function, so that a membership value of a target course angle, a membership value of a target distance, a membership value of a target course speed and a membership value of a radar reflection sectional area are obtained;
the membership value of the target course angle, the membership value of the target distance, the membership value of the target course speed and the membership value of the radar reflection sectional area are constrained in dimensionless data between 0 and 1;
the calculation steps of the membership value of the target heading speed are as follows:
combining the target course speed and a first preset formula to obtain a membership value of the target course speed;
the first preset formula is:
wherein v is the target heading speed, and the value of u (v) is between [0.1,1 ].
8. An analytic hierarchy process-based flying target threat degree identification device, comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a method of analytic-hierarchy-based threat identification of a flight target of any of claims 1-6.
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