CN112000122A

CN112000122A - Aviation cluster formation space alignment control method

Info

Publication number: CN112000122A
Application number: CN202010695671.XA
Authority: CN
Inventors: 李哲; 王瑾; 任宝祥; 梁晓龙; 齐铎
Original assignee: Air Force Engineering University of PLA
Current assignee: Air Force Engineering University of PLA
Priority date: 2020-07-17
Filing date: 2020-07-17
Publication date: 2020-11-27
Anticipated expiration: 2040-07-17
Also published as: CN112000122B

Abstract

The method determines an aviation cluster formation organization structure and utilizes a benchmark machine selection algorithm to carry out aviation cluster formation layered alignment. The aviation cluster formation consists of a plurality of terraces, each terraces consists of a plurality of intermediate teams, and each intermediate team consists of a long plane and a plurality of wing planes; the long machine of the echelon flies along a flight line, and the long machine of the echelon does not need to be aligned; other medium-team long machines except the long machine in the echelon fly along the reference machine at certain distance, interval and height by taking a certain medium-team long machine as the reference machine according to a distance-based reference machine selection algorithm; the medium team wing plane takes the medium team long plane or the medium team wing plane as a reference plane according to a distance-based reference plane selection algorithm, and flies along with the reference plane according to a certain distance, interval and height. The method can realize the strict formation of the whole aviation cluster formation, and meanwhile, when the position of a certain airplane in the formation is deviated, the positions of other airplanes change along with the deviation, so that the collision of the airplanes is effectively avoided.

Description

Aviation cluster formation space alignment control method

Technical Field

The invention relates to the aviation cluster formation control technology, in particular to a space alignment control method for keeping the formation shape of an aviation cluster formation.

Background

With the continuous evolution of national defense technology, the air combat concept of the main military and the strong country in the world is mainly changed to systematization, informatization, intellectualization and synergetics, and the performance of a single combat platform cannot meet the future combat requirements. The novel combat concepts such as network center combat, sea-air integrated combat and distributed combat management proposed by the army emphasize the close cooperation of various combat platforms in a battlefield, form the situation perception advantage, the command decision advantage and the accurate strike advantage of a system, and jointly complete the combat mission, which is also the basic idea of aviation cluster combat.

The aviation cluster is an air combat system which is composed of a certain number of single-function or multifunctional manned or unmanned aerial vehicles and has the characteristic of capability emergence on the whole on the basis of a sympathetic network. (Berpeng, novel aviation colony air combat System research [ J ]. university of air force school report 2016, 16 (2): 1-4)

The aviation cluster battle system is mainly characterized in that the capacity of a single platform is single and limited, but the cluster behavior is complex and has capacity to emerge. The aviation cluster generates cluster capacity on the basis of three aspects of functional coupling, structural effect and battlefield environment of each platform. The structural effect means that all the platforms of the aviation cluster are organized according to a certain system structure, interaction and feedback occur among the platforms, and interaction behaviors such as excitation and response are realized. The aviation clusters are distributed discretely in space, formation of the aviation clusters is an important external expression of the system structure of the aviation clusters, and reasonable formation is a necessary condition for realizing the emergence of the aviation cluster capacity.

The flight of an aviation fleet of clusters to maintain a configuration requires control, generally designating the aircraft as a lead aircraft and a wing aircraft when the number of aircraft is small. A wing plane takes a long plane as a reference plane and flies along the reference plane according to a certain distance, interval and height. The bureaucratic plane can keep the formation by adjusting the position of the bureau plane. The aircrafts are more in aviation cluster formation and have a large number of wing machines, and once a certain wing machine has a position deviation, the certain wing machine is easy to collide with peripheral wing machines if all the wing machines take a long machine as a reference machine, so that great potential safety hazard exists.

Therefore, the aviation cluster formation space alignment control method is provided, and the whole formation of the aviation cluster formation is strictly integrated through a hierarchical alignment method and a distance-based reference machine selection algorithm.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a formation space alignment control method for aviation cluster formation, which comprises the following steps:

STEP 1: determining aviation cluster formation organization architecture

The aviation cluster formation is composed of 1 or more echelons; different fleets have different routes;

the echelon consists of 1 or more intermediate lines with the same air route;

the medium team consists of 1 long plane and 1 or more bureaucratic planes; all the middle-team long machines are designated in advance, and the long machine of the first middle team of the echelon is the echelon long machine;

STEP 2: aviation cluster formation layered alignment

The long machine of the echelon flies along a flight line, and the long machine of the echelon does not need to be aligned;

other medium-team long machines in the echelon without the first medium-team long machine fly along the reference machine at certain distance, interval and height by taking a certain medium-team long machine as the reference machine according to a reference machine selection algorithm;

the bureau bureaucratic machines fly along with the benchmark aircraft according to a certain distance, interval and height by taking the bureau eld bureau machines or the bureau machines as the benchmark aircraft according to a benchmark aircraft selection algorithm;

the benchmark selection algorithm based on distance comprises the following steps:

firstly, confirming the reference machines of the long machines of each intermediate team in the fleet, and confirming the reference machines of the bureaucratic machines in the intermediate team on the basis of the reference machines;

the first step is as follows: confirming a reference machine of each middle-team long machine in the echelon;

the intermediate flight length machines in the echelon are marked as P0, P1, P2, wherein P0 is the echelon length machine;

step 1: designating long airplane in the flight P0, namely the first long airplane in the middle flight as a reference airplane, establishing an aligned airplane list A, and putting the long airplane in the list;

step 2: searching all other reference machines except the first middle queue long machine P0, namely the reference machines of the middle queue long machines P1, P2,. In order to search a reference machine of the middle queue long machine Pi, the distance between the middle queue long machine Pi and other middle queue long machines is firstly calculated, and if the distance is shortest and the corresponding middle queue long machine Pj is in the aligned aircraft list A, the reference machine of which the middle queue long machine Pj is Pi is marked as (Pi, Pj); after the searching of the reference machines of P1, P2, the.

Step 3: repeating Step2 until all the medium queue long machines have the reference machine, namely the list A comprises all the medium queue long machines; the first step is finished;

the second step is that: a reference machine for confirming each bureaucratic machine in the team;

the aircraft in the middle team is marked as Q0, Q1, Q2, or Qm, wherein Q0 is a long middle team aircraft and is one of P0, P1, P2, or.

step 1: designating the long medium aircraft Q0 as a reference aircraft, establishing an aligned aircraft list B, and putting the long medium aircraft Q0 into the list;

step 2: the method for searching the reference machines of all the airplanes except the leader Q0 in the middle team, namely the reference machines of Q1, Q2,. Searching a reference machine of Qk, calculating the distance between the Qk and other airplanes in the squad, and if the distance is shortest and the corresponding airplane Qr is in the aligned airplane list A, marking the reference machine with the corresponding airplane Qk as Qr as (Qk, Qr); the value ranges of k and r are both 1, 2.. multidot.m;

step 3: repeating step2 until the searching of the reference machines of all the airplanes except the leader Q0 in the middle team is completed, and then gradually putting the airplanes Qk with the reference machines into the aligned airplane list B; at this time, all the airplanes in the squad have reference airplanes, namely the list B comprises all the airplanes in the squad; and the second step is finished.

The method has the advantages that: the aviation cluster layered space alignment method is provided, the organization structure of large-scale formation flight of the aviation aircraft is determined, the control complexity is reduced, and the formation is ensured to be tight; a distance-based distributed reference machine selection algorithm is provided, so that centralized control is avoided, and automatic selection of a reference machine by a wing machine in a formation is realized; when the position of a certain airplane in the formation is deviated, the positions of other airplanes change along with the deviation, the airplane collision can be effectively avoided, the flight safety is improved, and the heavy loss of airplane damage and death is avoided.

Drawings

FIG. 1 illustrates an airline cluster formation and echelon;

FIG. 2 illustrates an airline fleet and squad;

fig. 3 shows a fleet of longplanes and bureaucratic planes in an aviation cluster;

FIG. 4 shows a reference machine of a mid-fleet long machine;

FIG. 5 shows a reference plane for each aircraft in the squad;

FIG. 6 shows a mid-fleet long machine alignment process 1;

FIG. 7 illustrates the mid-fleet long machine alignment process 2;

FIG. 8 shows a mid-fleet long machine alignment process 3;

FIG. 9 shows a mid-fleet aircraft alignment process 1;

FIG. 10 illustrates the mid-fleet aircraft alignment process 2;

fig. 11 shows the in-squad aircraft alignment process 3.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

1. An aviation cluster formation organization architecture example.

A certain aviation cluster formation is composed of 2 echelons, namely a first echelon and a second echelon. The first and second fleets have different routes, see fig. 1. The first echelon consists of 2 squads, a first squad and a second squad, respectively, the 2 squads having the same flight line. Likewise, the second echelon is also composed of 2 squads with the same flight line, see fig. 2.

The middle team consists of 1 long plane and a plurality of bureaucratic planes. All the long machines of the middle lines need to be specified in advance, and the long machine of the first middle line of the echelon is the long machine of the echelon, which is shown in fig. 3.

2. And (4) forming an aviation cluster, layering and aligning an example.

In the embodiment, the formation of the aviation clusters comprises two echelons, a first echelon long airplane and a second echelon long airplane fly according to the airline, and the echelon long airplanes do not need to be aligned.

According to the reference machine selection algorithm, the second long machine of the first echelon selects the first long machine of the second echelon (namely the long machine of the first echelon) as a reference machine, and flies along with the reference machine according to a certain distance, interval and height, wherein an arrow points to the reference machine, and the tail of the arrow is a follower, which is shown in fig. 4.

The bureau team wing aircraft takes the bureau team leader aircraft or a bureau team wing aircraft as a reference aircraft according to a reference aircraft selection algorithm of the invention, and flies along the reference aircraft according to a certain distance, interval and height, the arrow points to the reference aircraft, and the tail of the arrow is a follower, which is shown in figure 5.

3. A distance-based benchmark machine selects an algorithm instance.

The aviation cluster in this example consists of 1 platoon consisting of 3 medium fleets, see fig. 6, on which the algorithm first identifies the base aircraft of the long aircraft of each medium fleet in the platoon, and on this basis identifies the base aircraft of the wing aircraft of each medium fleet.

The first step is as follows: and confirming the reference machine of each middle-team long machine in the echelon.

The long machine of the middle flight in the elevator formation is marked as P0, P1 and P2, wherein P0 is the long machine of the elevator formation, the distance between P0 and P1 is 300m, and is marked as D01 or D10, the distance between P0 and P2 is 600m, and is marked as D02 or D20, and the distance between P2 and P1 is 300m, and is marked as D21 or D12.

Step 1: designating flight leader P0 (the first mid-flight leader) as the reference leader, creating an aligned aircraft list a, and placing the flight leader in the first position of the list, see fig. 6;

step 2: searching the reference machines of each medium team leader (except the first medium team leader), namely P1 and P2, searching the reference machine of P1, calculating the distance between P1 and P0 and P2, and although D10 is equal to D12, if P0 is in the aligned aircraft list A, the corresponding medium team leader P0 is the reference machine of P1 and is marked as (P1 and P0). Searching for a reference plane of P2, calculating the distance between P2 and P1 and P0, wherein D21 is shortest, but if P1 is not in the aligned plane list A, a reference plane of P1 is not found. After the reference plane search is completed, the plane P1 with the reference plane is placed in the aligned plane list a. See fig. 7.

Step 3: 2 of the 3 medium team long planes are already aligned (in aligned airplane list a), and the reference plane of the last 1 medium team long plane P2 is searched. Searching for a reference plane of P2, calculating the distances between P2 and P1 and P0, wherein the distance D21 is shortest and the corresponding long intermediate plane P1 is in the aligned aircraft list A, and the corresponding long intermediate plane P1 is a reference plane of P2 and is marked as (P2 and P1). After the baseline search of P2 is completed, P2 is placed in aligned aircraft list A. See fig. 8.

Step 4: all the middle leader machines P0, P1 and P2 have reference machines. The algorithm ends.

The second step is that: the benchmark machines of bureau bureaucratic machines are confirmed.

The aircrafts in the middle team are marked as P0, P1, P2, P3 and P4, wherein P0 is a long aircraft of the middle team. Let the distance between P0 and P1 be L, denoted as D01; the distance between P0 and P2 is L, and is marked as D02; the distance between P2 and P1 is L, and is marked as D12; the distance between P0 and P3 is 2L, and is marked as D03, the distance between P0 and P4 is 2L, and is marked as D04, the distance between P3 and P2 is 1.732L, and is marked as D23, and the distance between P1 and P4 is 1.732L, and is marked as D14. See fig. 9.

Step 1: designating the long intermediate aircraft P0 as the reference aircraft (after the reference aircraft of each long intermediate aircraft in the flight is confirmed in the first step, the long intermediate aircraft is aligned), an aligned aircraft list B is created, and the long intermediate aircraft is placed in the first position of the list. See fig. 9.

Step 2: and searching the reference machines of each airplane in the squad (except for the long squad), namely the reference machines of P1, P2, P3 and P4. Firstly, searching a reference machine of P1, calculating the distances between P1 and P0, P2, P3 and P4, wherein the distances from P1 to P0, P2 and P3 are shortest, but if P0 is in the aligned aircraft list B, the corresponding long intermediate aircraft P0 is the reference machine of P1 and is marked as (P1 and P0). Searching for a reference machine of P2, calculating the distances between P2 and P0, P1, P3 and P4, wherein the distances from P2 to P0, P1 and P3 are the shortest, but if P0 is in the aligned aircraft list B, the corresponding long intermediate aircraft P0 is the reference machine of P2 and is marked as (P2 and P0). Searching for a reference plane of P3, calculating the distances between P3 and P0, P1, P2 and P4, wherein the distance from P3 to P1 is shortest, but P1 is not in the aligned aircraft list B, so that a reference plane of P3 is not found. Fourthly, searching for a benchmark machine of P4, calculating the distances between P4 and P0, P1, P2 and P3, wherein although the distance from P4 to P2 is shortest, P2 is not in the aligned aircraft list B, so that the benchmark machine of P4 is not found. The searching of the reference plane of each plane (except the long plane of the middle team) in the middle team is completed, and the planes P1 and P2 with the reference planes are put into the aligned plane list B. See fig. 10.

Step 3: and searching the reference machines of each airplane (except the airplane in the aligned airplane list B) in the squadron, namely the reference machines of P3 and P4. Firstly, searching a reference machine of P3, calculating the distances between P3 and P0, P1, P2 and P4, wherein the distance between P3 and P1 is shortest, and P1 is in an aligned aircraft list B, so that the corresponding middle queue long aircraft P1 is the reference machine of P3 and is marked as (P3 and P1). Searching for a reference plane of P4, calculating the distances between P4 and P0, P1, P2 and P3, wherein the distance between P4 and P2 is shortest, and P2 is in the aligned aircraft list B, so that the corresponding middle queue long plane P2 is the reference plane of P4 and is marked as (P4 and P2). And (4) finishing searching the reference plane of each airplane (except the airplane in the aligned airplane list B) in the middle team, and putting the airplanes P3 and P4 with the reference planes into the aligned airplane list B. See fig. 11.

Step 4: all the airplanes in the squad have reference airplanes, that is, the list B contains all the airplanes in the squad. The algorithm ends.

The invention provides an aviation cluster layered space alignment method, which is used for determining the organization structure of large-scale formation flight of an aviation aircraft, reducing the complexity of control and ensuring the formation to be tight; a distance-based distributed reference machine selection algorithm is provided, so that centralized control is avoided, and automatic selection of a reference machine by a wing machine in a formation is realized; when the position of a certain airplane in the formation is deviated, the positions of other airplanes change along with the deviation, the airplane collision can be effectively avoided, the flight safety is improved, and the heavy loss of airplane damage and death is avoided.

Claims

1. A formation space alignment control method for aviation cluster formation is characterized by comprising the following steps:

STEP 1: determining aviation cluster formation organization architecture

the echelon consists of 1 or more intermediate lines with the same air route;

STEP 2: aviation cluster formation layered alignment