CN113701762B - Unmanned aerial vehicle search route establishing method and device - Google Patents
Unmanned aerial vehicle search route establishing method and device Download PDFInfo
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Abstract
The invention discloses a method and a device for establishing an unmanned aerial vehicle search airway. The method comprises the following steps: obtaining the longest edge of the projection range of the unmanned aerial vehicle passive radar seeker search view field on the groundH maxAnd shortest sideH min(ii) a Uncertainty of acquisitionThe region range of the position target is calculated to be equivalent to the long side of the circumscribed rectangleS yAnd short sideS x(ii) a According to the longest side of the projection rangeH maxShortest sideH minAnd the long side of the circumscribed rectangleS yShort side, short sideS xPlanning a search route of the unmanned aerial vehicle according to preset classification criteria; the classification judgment is set by combining a typical search route mode of the unmanned aerial vehicle with the optimal area coverage capability as a target; the calculation formula of the area coverage capability isA=S ∑/L ∑，AIn order to be able to cover an area,S ∑in order to accumulate the coverage area for a single period,L ∑is the length of the single-cycle route; typical search route patterns for drones include racetrack, 8-shaped, and raster-shaped. The invention can carry out the optimal searching route planning under the condition that the target position is uncertain.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle search route establishing method and device.
Background
The anti-radiation unmanned aerial vehicle is a small unmanned aerial vehicle provided with a passive radar seeker and a warhead, and is mainly used for suppressing and destroying enemy ground radars and weakening the fighting capacity of an enemy air defense system. The passive radar seeker can realize the processes of target searching, signal acquisition and recognition tracking of the radiation source signals concealed in the combat area, and meanwhile, the passive radar seeker also adds a view field constraint condition to the unmanned aerial vehicle target searching. In addition, the anti-radiation unmanned aerial vehicle has the characteristic of 'no matter after transmission', and can only fly according to a preset track in a searching stage, so that higher requirements are provided for the planning of the pre-searching track of the unmanned aerial vehicle.
Document 1 (optimized design and simulation of cruising search route of an aggressive unmanned aerial vehicle, fire and command control 2006, 31 (7)) compares four search route modes by taking area coverage and search time consumption as indexes, and draws the conclusion of the advantages and disadvantages of different modes. However, the size of the area to be searched is fixed, the change of the search route strategy caused by the change of the size of the search area is not considered, the direction of the route entering the area to be searched is single, and the influence of different entering directions on the evaluation is not considered.
In document 2 (cooperative search route planning by multiple drones in uncertain environment, war 2011, (11): 1337-. However, the search strategy cannot avoid that the unmanned aerial vehicle flies out of the search area, and the turning program needs to be executed for multiple times after the unmanned aerial vehicle flies out of the search area, so that the search resources are wasted.
On the other hand, documents 1 and 2 do not consider the characteristic that the passive radar seeker of the anti-radiation unmanned aerial vehicle searches the view field, and are difficult to be applied to the anti-radiation unmanned aerial vehicle.
Document 3 (the anti-radiation unmanned aerial vehicle search route in the air defense fire suppression task is preferred, the university of air force, 2020, (1): 87-91) analyzes the characteristics of the unmanned aerial vehicle passive radar seeker search field of view, and compares the advantages and disadvantages of different search routes in detail by taking the field of view coverage as an index. Document 4 (a field-of-view constraint-based method for planning search tracks of anti-radiation unmanned aerial vehicles, CN 112066992A) combines genetic algorithm to generate a preferred search track. However, both of these documents address the situation that the target position is known, only the search coverage of the target with the known position point is considered, and the situation that the target position is uncertain is not considered.
Therefore, how to optimally search the air route planning for the target with the uncertain position is an urgent problem to be solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an unmanned aerial vehicle search route establishing method and device, which can carry out optimal search route planning on an uncertain position target.
In order to achieve the above object, in a first aspect, the present invention provides a method for establishing an unmanned aerial vehicle search route, including the following steps:
(1) obtaining the longest edge of the projection range of the passive radar seeker search view field of the anti-radiation unmanned aerial vehicle on the groundH maxAnd shortest sideH min；
(2) Obtaining the area range of the target with uncertain position, calculating the long edge of the area range equivalent to the circumscribed rectangleS yAnd short sideS x；
(3) According to the longest side of the projection rangeH maxShortest sideH minAnd the long side of the external rectangleS yShort side, short sideS xPlanning a search route of the unmanned aerial vehicle according to preset classification criteria;
the classification judgment is set by taking the optimal area coverage capability as a target and combining a typical search route mode of the unmanned aerial vehicle;
the calculation formula of the area coverage capacity isA=S ∑/L ∑Wherein, in the step (A),Ain order to be able to cover an area,S ∑in order to accumulate the coverage area for a single period,L ∑is the length of the single-cycle route; the typical search route pattern of the unmanned aerial vehicle comprises a runway shape, an 8 shape and a grating shape.
In one embodiment, the single-cycle cumulative coverage areaS ∑The calculation formula of (2) is as follows:
wherein, x =g(y) searching an analytic function of a field of view projected on the ground for the seeker; x =f(y) is an indeterminate position equivalent to a circumscribed rectangleThe analytic function of (2);v yis the component of the flight speed of the unmanned aerial vehicle in the y-axis direction;Tis a complete route searching period.
In one embodiment, the precondition for performing step (1) is that the seeker is not detecting when the drone is flying in a turn, andH max≫r，rthe turning radius of the unmanned aerial vehicle during searching and cruising is achieved.
In one embodiment, the step (3) specifically includes:
according to the longest side of the projection rangeH maxShortest sideH minCalculating the seeker search field parameter index
Searching for field parameter indices from the seeker
And the long side of the external rectangleS yShort side, short sideS xPlanning a search route of the unmanned aerial vehicle according to preset classification criteria;
wherein the seeker searches for a field of view parameter index
The calculation formula of (2) is as follows:
。
in one embodiment, the classification criteria are:
judgment ofS x 2+S y 2And
in a relation of (1), if
Then continue to judgeS xAnd
the relationship of (1); if it is
Planning a runway-shaped search route; if it is
Planning a raster-shaped search route; if it is
Then, the following judgment is continued:
judgment ofS xAnd max (H min-2r,2r) In a relation of (1), ifS x＜max（H min-2r,2r) Planning a runway-shaped route; if it isS x＞max（H min-2r,2r) Respectively calculating and comparing the area coverage capacity of the runway-shaped and 8-shaped fairwaysA 1AndA 2if, ifA 1＜A 2Planning 8-shaped search route ifA 1＞A 2And planning a runway-shaped search route.
In a second aspect, the present invention provides an unmanned aerial vehicle search route establishing system, including:
a projection range acquisition module for acquiring the longest edge of the projection range of the passive radar seeker search view field of the anti-radiation unmanned aerial vehicle on the groundH maxAnd shortest sideH min；
The uncertain position equivalent calculation module is used for obtaining the area range of the uncertain position target and calculating the long edge of the area range equivalent to the circumscribed rectangleS yAnd short sideS x；
A search route planning module for planning the longest route of the projection rangeH maxShortest sideH minAnd the long side of the external rectangleS yShort side, short sideS xBy a predetermined classification criterion, plan noneSearching for an airway of the man-machine;
the classification judgment is set by taking the optimal area coverage capability as a target and combining a typical search route mode of the unmanned aerial vehicle;
the calculation formula of the area coverage capacity isA=S ∑/L ∑Wherein, in the step (A),Ain order to be able to cover an area,S ∑in order to accumulate the coverage area for a single period,L ∑is the length of the single-cycle route; the typical search route pattern of the unmanned aerial vehicle comprises a runway shape, an 8 shape and a grating shape.
In a third aspect, the present invention provides an apparatus for establishing an unmanned aerial vehicle search route, including:
a memory having a computer program stored thereon; and
and the processor is used for executing the computer program in the memory so as to realize the steps of the unmanned aerial vehicle search route establishing method.
In a fourth aspect, the present invention provides a storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the unmanned aerial vehicle search route establishment method described above.
According to the unmanned aerial vehicle search route establishing method and device, the characteristics of the unmanned aerial vehicle passive radar seeker search view field are fully considered, and the area coverage capability is determined to serve as an evaluation standard for the quality of the search route; constructing a relation between relevant parameters of a seeker searching view field and the size of the uncertain position area, and calculating classification criteria of the uncertain position areas with different sizes; and based on the classification criteria, making optimal search route planning strategies corresponding to uncertain position areas with different sizes. By adopting the unmanned aerial vehicle route searching establishing method and the unmanned aerial vehicle route searching establishing device, different route searching methods adopted in uncertain position areas with different sizes can be scientifically and efficiently planned, and the operability is high.
Drawings
Fig. 1 is a schematic flow chart of a method for establishing a search route of an unmanned aerial vehicle according to an embodiment;
fig. 2 is a technical flowchart of a method for establishing a search route of an unmanned aerial vehicle according to an embodiment;
FIG. 3 is a schematic diagram of a search field of view projected on the ground by a passive radar seeker of an unmanned aerial vehicle according to one embodiment;
FIG. 4 shows an embodiment
And isS x＜max（H min-2r,2r) The navigation path searching method comprises the steps that a navigation path searching schematic diagram is planned, wherein a bold line is used for searching a navigation path of the unmanned aerial vehicle, a grid line area is an uncertain position area, and a shadow area is a coverage area of a seeker searching view field when the unmanned aerial vehicle just enters the uncertain position area;
FIG. 5 shows an embodiment
、S x＞max（H min-2r,2r) And isA 1＜A 2A time-programmed search route schematic diagram;
FIG. 6 shows an embodiment of the present invention
、S x＞max（H min-2r,2r) And isA 1＞A 2A time-programmed search route schematic diagram;
FIG. 7 shows an embodiment
And is
A time-programmed search route schematic diagram;
FIG. 8 shows an embodiment
And is
A time-programmed search route schematic diagram;
fig. 9 is an architecture diagram of a drone search route establishment system in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a method for establishing an unmanned aerial vehicle search route according to an uncertain target position according to an embodiment of the present invention, and as shown in fig. 1, the method for establishing an unmanned aerial vehicle search route includes steps S10 to S30, which are detailed as follows:
s10, obtaining the longest edge of the projection range of the passive radar seeker searching view field of the anti-radiation unmanned aerial vehicle on the groundH maxAnd shortest sideH min。
S20, obtaining the area range of the uncertain position target, equivalent the area range to the circumscribed rectangle, namely the uncertain position area, calculating the long edge of the uncertain position areaS yAnd short sideS x。
S30, according to the longest side of the projection rangeH maxShortest sideH minAnd the long side of the circumscribed rectangleS yShort side, short sideS xThe unmanned aerial vehicle search route is planned through preset classification criteria, namely, the unmanned aerial vehicle search route is established.
Wherein the classification criterion is based on area coverage capabilityAOptimally to the target, i.e.AAt the maximum, the number of the first,Aa larger value of (a) indicates a stronger area coverage; and a plurality of criteria are formed by combining typical search routes of the unmanned aerial vehicle, such as runway shape, 8 shape and grating shape, so as to formulate a search route planning strategy.
Specifically, the calculation formula of the area coverage capability isA=S ∑/L ∑Wherein, in the step (A),Ain order to be able to cover an area,S ∑accumulating coverage for a single cycle，L ∑Is the length of the single-cycle route; typical search route patterns for drones include racetrack, 8-shaped, and raster-shaped.
Further, the air conditioner is provided with a fan,S ∑for the accumulation of the intersection of the field of view projected on the ground and the area of indeterminate position searched by the seeker at each moment, i.e.
Wherein, x =g（y）、x=f(y) an analytical function of the seeker's search field of view projected on the ground and an analytical function of the uncertainty location area,v yis the component of the flight speed of the unmanned aerial vehicle in the direction of the y axis,Tis a complete route searching period.
According to the unmanned aerial vehicle route searching and establishing method, the characteristic that the passive radar seeker of the unmanned aerial vehicle searches the view field is fully considered, and the area coverage capacity is determined to serve as the evaluation standard of the route searching quality; constructing a relation between relevant parameters of a seeker searching view field and the size of the uncertain position area, and calculating classification criteria of the uncertain position areas with different sizes; and based on the classification criteria, making optimal search route planning strategies corresponding to uncertain position areas with different sizes. By adopting the unmanned aerial vehicle route searching establishing method provided by the embodiment, different route searching methods adopted in uncertain position areas with different sizes can be scientifically and efficiently planned, and the operability is high.
Specifically, in order to achieve the above object, the technical scheme provided by the present invention is as shown in fig. 2, and the specific steps are as follows:
the method comprises the following steps: the projected footprint of the seeker search field on the ground is calculated to be approximately trapezoidal, as shown in FIG. 3. Wherein the shortest side of a covering area formed when the seeker follow-up mechanism rotates to the position right below the body in a pitching way isH minThe longest side of the coverage area formed when the cover is rotated to the maximum pitch angle isH maxThe distance between the shortest side and the longest side ishSeeker search field of view parameter index
. And the preconditions are followed: firstly, the seeker does not detect when the unmanned aerial vehicle flies and turns; ②H max≫r，rThe turning radius of the unmanned aerial vehicle during searching and cruising is achieved.
Step two: obtaining the region range of the uncertain position target, equivalent the region range into the external rectangular region, and making the long side of the rectangular region asS yThe short side isS xI.e. byS y≥S x。
And then setting a criterion. The direction of the unmanned aerial vehicle entering the uncertain position area has countless choices, namely the analytic function x =of the projection range of the seeker view field on the groundg(y) are different, so that the one-cycle cumulative coverage areaS ∑The analytical calculation in the invention is too complex, and the graphical approximation is adopted, and the formed criterion is as follows.
Step three: judgment ofS x 2+S y 2And
in a relation of (1), if
The method indicates that no matter which direction the 8-shaped search route enters the uncertain position area, the 8-shaped search route cannot be adopted because of the area coverage blind area. Continuing to judgeS xAnd
in a relation of (1), if
Planning a runway-shaped search route, as shown in the attached figure 7; if it is
Then planning the raster-shaped search route, see fig. 8. If it is
Then the following steps are performed.
Step four: judgment ofS xAnd max (H min-2r,2r) In a relation of (1), ifS x＜max（H min-2r,2r) Indicating both runway-shaped and 8-shaped routesS ∑Approximately equal, but racetrack-shapedL ∑Obviously shorter than the figure 8, so that a runway-shaped route is planned, as shown in the attached figure 4; if it isS x＞max（H min-2r,2r) Then the following steps are performed.
Step five: calculating and comparing area coverage capability of 8-shaped and runway-shaped routesA. Because the 8-shaped navigation path enters the uncertain position area twice in a single period, the rectangular uncertain position area is expanded into a circumscribed circle shape, and if the rectangular uncertain position area flies in along the radial direction, the rectangular uncertain position area enters the uncertain position area twice symmetrically. Single-cycle cumulative coverage area in a 8-shaped airwayS ∑As a reference, set to 2, then a racetrack shapeS ∑Is approximately as
. Thus, the area coverage capability of a racetrack-shaped routeA 1And area coverage capability of 8-shaped airwayA 2Respectively as follows:
，
wherein the flight turning angle
。
Step six: if it isA 1＜A 2Planning an 8-shaped search route, as shown in figure 5; if it isA 1＞A 2Then planning a runway-shaped search route, see fig. 6.
To illustrate the invention more clearly, the following examples are given:
the method comprises the following steps: corresponding to fig. 3, relevant parameters of the passive radar seeker and the flight platform of the unmanned aerial vehicle are set:H max=20km，H min=3km，h=15km，r=1km。
step two: setting the side length of the uncertain position area:S x=3km，S y=5km。
step three: judge out
Then the following steps are performed.
Step four: judge outS x＞max（H min-2r,2r) Then the following steps are performed.
Step five: respectively calculate
And
。
step six: compare outA 1＜A 2Then 8-shaped search routes are planned, see fig. 4. The 8-shaped air route enters from the diagonal direction of the uncertain position area, and the length of the straight line section of the air route is
About 5.83km, and a flight turning angle α of about 19 °.
Fig. 9 is an architecture diagram of a system for establishing a search route for a drone according to an embodiment of the present invention, as shown in fig. 9, the system includes:
the projection range acquisition module 100 acquires the longest edge of the projection range of the passive radar seeker search view field of the anti-radiation unmanned aerial vehicle on the groundH maxAnd shortest sideH min。
The uncertain position equivalent calculating module 200 obtains the area range of the uncertain position target and calculates the area range equivalent to the outsideTo the long side of the rectangleS yAnd short sideS x。
Search for route planning Module 300, according to the longest side of the projection RangeH maxShortest sideH minAnd the long side of the circumscribed rectangleS yShort side, short sideS xThe unmanned aerial vehicle search route is planned through preset classification criteria, namely, the unmanned aerial vehicle search route is established.
The classification judgment is set by combining a typical search route mode of the unmanned aerial vehicle with the optimal area coverage capability as a target;
the calculation formula of the area coverage capability isA=S ∑/L ∑Wherein, in the step (A),Ain order to be able to cover an area,S ∑in order to accumulate the coverage area for a single period,L ∑is the length of the single-cycle route; the typical search route pattern of the unmanned aerial vehicle comprises a runway shape, an 8 shape and a grating shape.
Specifically, the functions of each module in the unmanned aerial vehicle search route establishing system provided in this embodiment may refer to the detailed description in the foregoing method embodiment, and are not described in detail in this embodiment.
The unmanned aerial vehicle search route establishing system provided by the embodiment fully considers the characteristic of a passive radar seeker search view field of the unmanned aerial vehicle, and determines the area coverage capability as an evaluation standard for the quality of a search route; constructing a relation between relevant parameters of a seeker searching view field and the size of the uncertain position area, and calculating classification criteria of the uncertain position areas with different sizes; and based on the classification criteria, making optimal search route planning strategies corresponding to uncertain position areas with different sizes. By adopting the unmanned aerial vehicle route searching and establishing system provided by the embodiment, different route searching methods adopted in uncertain position areas with different sizes can be scientifically and efficiently planned, and the operability is high.
The invention provides an unmanned aerial vehicle search route establishing device, which comprises: a memory having a computer program stored thereon; and a processor for executing the computer program in the memory to implement the steps of the unmanned aerial vehicle search route establishing method.
In addition, the present invention provides a storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of the above-described unmanned aerial vehicle search route establishment method.
It should be noted that the unmanned aerial vehicle search route establishing apparatus and the storage medium provided by the present invention are based on two aspects of the same inventive concept, and the method implementation process has been described in detail in the foregoing, so that a person skilled in the art can clearly understand the structure and implementation process of the apparatus in the present embodiment according to the foregoing description, and for the sake of brevity of the description, this embodiment is not described again.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. An unmanned aerial vehicle search route establishing method is characterized by comprising the following steps:
(1) obtaining the longest edge of the projection range of the passive radar seeker search view field of the anti-radiation unmanned aerial vehicle on the groundH maxAnd shortest sideH min；
(2) Obtaining the area range of the target with uncertain position, calculating the long edge of the area range equivalent to the circumscribed rectangleS yAnd short sideS x；
(3) According to the longest side of the projection rangeH maxShortest sideH minCalculating the seeker search field parameter index
Searching for field parameter indices from the seeker
And the length of the circumscribed rectangleEdgeS yShort side, short sideS xPlanning a search route of the unmanned aerial vehicle according to preset classification criteria; the classification judgment is set by taking the optimal area coverage capability as a target and combining a typical search route mode of the unmanned aerial vehicle;
the classification criterion is: judgment ofS x 2+S y 2And
in a relation of (1), if
Then continue to judgeS xAnd
the relationship of (1); if it is
Planning a runway-shaped search route; if it is
Planning a raster-shaped search route; if it is
Then, the following judgment is continued:
judgment ofS xAnd max (H min-2r,2r) In a relation of (1), ifS x＜max（H min-2r,2r) Planning a runway-shaped route; if it isS x＞max（H min-2r,2r) Respectively calculating and comparing the area coverage capacity of the runway-shaped and 8-shaped fairwaysA 1AndA 2if, ifA 1＜A 2Planning 8-shaped search route ifA 1＞A 2Planning a runway-shaped search route;
the calculation formula of the area coverage capacity isA=S ∑/L ∑Wherein, in the step (A),Ain order to be able to cover an area,S ∑in order to accumulate the coverage area for a single period,L ∑is the length of the single-cycle route; the typical search route pattern of the unmanned aerial vehicle comprises a runway shape, an 8 shape and a grating shape.
2. The unmanned aerial vehicle search airway establishment method of claim 1, wherein the single-cycle cumulative coverage areaS ∑The calculation formula of (2) is as follows:
wherein, x =g(y) searching an analytic function of a field of view projected on the ground for the seeker; x =f(y) is an analytic function of equivalent uncertain positions into a circumscribed rectangle;v yis the component of the flight speed of the unmanned aerial vehicle in the y-axis direction;Tis a complete route searching period.
3. An unmanned aerial vehicle search airway establishing method as claimed in claim 1 or 2, wherein the precondition for performing step (1) is that the seeker does not detect when the unmanned aerial vehicle is turning during flight, and wherein the seeker is configured to perform the search for an airwayH max≫r，rThe turning radius of the unmanned aerial vehicle during searching and cruising is achieved.
4. An unmanned aerial vehicle search route establishment system, comprising:
a projection range acquisition module for acquiring the longest edge of the projection range of the passive radar seeker search view field of the anti-radiation unmanned aerial vehicle on the groundH maxAnd shortest sideH min；
The uncertain position equivalent calculation module is used for obtaining the area range of the uncertain position target and calculating the long edge of the area range equivalent to the circumscribed rectangleS yAnd short sideS x；
A search route planning module for planning the longest route of the projection rangeH maxShortest sideH minCalculating the seeker search field parameter index
Searching for field parameter indices from the seeker
And the long side of the external rectangleS yShort side, short sideS xPlanning a search route of the unmanned aerial vehicle according to preset classification criteria; the classification judgment is set by taking the optimal area coverage capability as a target and combining a typical search route mode of the unmanned aerial vehicle;
the classification criterion is: judgment ofS x 2+S y 2And
in a relation of (1), if
Then continue to judgeS xAnd
the relationship of (1); if it is
Planning a runway-shaped search route; if it is
Planning a raster-shaped search route; if it is
Then, the following judgment is continued:
judgment ofS xAnd max (H min-2r,2r) In a relation of (1), ifS x＜max（H min-2r,2r) Planning a runway-shaped route; if it isS x＞max（H min-2r,2r) Respectively calculating and comparing the area coverage capacity of the runway-shaped and 8-shaped fairwaysA 1AndA 2if, ifA 1＜A 2Planning 8-shaped search route ifA 1＞A 2Planning a runway-shaped search route;
the calculation formula of the area coverage capacity isA=S ∑/L ∑Wherein, in the step (A),Ain order to be able to cover an area,S ∑in order to accumulate the coverage area for a single period,L ∑is the length of the single-cycle route; the typical search route pattern of the unmanned aerial vehicle comprises a runway shape, an 8 shape and a grating shape.
5. The utility model provides an unmanned aerial vehicle searches for airway establishment device which characterized in that includes:
a memory having a computer program stored thereon; and
a processor for executing the computer program in the memory to implement the steps of the unmanned aerial vehicle search route establishment method according to any one of claims 1 to 3.
6. A storage medium having a computer program stored thereon, wherein the program, when executed by a processor, performs the steps of the drone search route establishment method of any one of claims 1 to 3.
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