CN114275131B - Ship defense method and device, defense aid decision system and storage medium - Google Patents
Ship defense method and device, defense aid decision system and storage medium Download PDFInfo
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- CN114275131B CN114275131B CN202111544159.6A CN202111544159A CN114275131B CN 114275131 B CN114275131 B CN 114275131B CN 202111544159 A CN202111544159 A CN 202111544159A CN 114275131 B CN114275131 B CN 114275131B
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Abstract
The invention is suitable for the field of computers, and provides a naval vessel defense method, a naval vessel defense device, a defense aid decision-making system and a storage medium, wherein the defense aid decision-making system comprises the following components: acquiring a first position corresponding to a first target in a detection area; determining the threat level of the first target when the first target is positioned at the first position according to the first position, the power and attack performance characteristics of the first target and a naval vessel navigation route; calculating the threat level of the first target at a set area position based on the dynamic performance characteristics and the attack performance characteristics of the first target and the vessel navigation route; and planning the navigation route of the naval vessel by integrating the threat levels of the first target at the first position and the set region position. According to the method and the device, the threat degree of the first target on the naval vessel when the first target is located at each position in the naval vessel detection area is accurately measured, the navigation route of the naval vessel is planned according to the threat degree, and the navigation safety of the naval vessel is guaranteed.
Description
Technical Field
The invention belongs to the field of computers, and particularly relates to a naval vessel defense method, a naval vessel defense device, a defense aid decision system and a storage medium.
Background
The primary threat that ships face underwater is submarines. The submarine has high concealment underwater, and weapons such as torpedoes or submarine-launched anti-ship missiles and the like can be adopted to strike the naval vessels at a long distance, so that the naval vessels must implement effective defense battles when performing tasks at sea, prevent the naval vessels from being attacked and attacked by enemy submarines, and guarantee the safety of the naval vessels. After the task areas are classified according to the safety areas and the threat areas, an anti-submarine defense circle can be established along the boundary line of the safety areas and the threat areas to prevent enemy submarines from entering the threat areas from the safety areas, so that the classification of the safety areas and the threat areas plays an important role in the warship battle against the submarine defense, and an important basis can be provided for a naval vessel command system to determine tactical decisions related to the submarine defense battle in wartime or exercise.
The existing ship anti-diving defense method is mainly based on experience or semi-experience models for the classification of a safety area and a threat area, the threat area is generally defined as a sector area which is right ahead of the ship course and plus or minus (30 degrees to 40 degrees) to the left and right, and the radius of the threat area is generally equivalent to the sonar detection distance of an enemy submarine or the attack distance of weapons such as torpedoes and the like. However, with the great improvement of submarine performance in recent years, the submarine generally has the capability of carrying out assault from the side or the rear of a naval vessel, the attack mode of the modern high-performance submarine becomes more novel, diversified and complex, and the classification of a threat zone and a safety zone by using the existing method gradually exposes the defects of low universality, more limitation requirements on the conditions such as speed, course, area range and the like, and the submarine can not meet the requirement of the naval vessel on the defense and combat of the modern high-performance submarine.
Therefore, the existing ship defense method has the problem that the threat zone and the safety zone are not accurately divided.
Disclosure of Invention
The embodiment of the invention aims to provide a naval vessel defense method, and aims to solve the problem that the existing naval vessel defense method is inaccurate in threat zone and safety zone division.
The embodiment of the invention is realized in such a way that a naval vessel defense method comprises the following steps:
acquiring a first position corresponding to a first target in a detection area;
determining the threat level of the first target when the first target is positioned at the first position according to the first position, the power and attack performance characteristics of the first target and a vessel navigation route;
calculating the threat level of the first target at a set area position based on the power performance characteristic and the attack performance characteristic of the first target and the vessel navigation route;
and planning the vessel navigation route by integrating the threat levels of the first target at the first position and the set region position.
It is a further object of an embodiment of the present invention to provide a defense aid decision system, including a memory and a processor, the memory having stored therein a computer program, which, when executed by the processor, causes the processor to perform the steps of the vessel defense method.
It is a further object of an embodiment of the present invention to provide a computer readable storage medium, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the steps of the vessel defense method.
The embodiment of the invention provides a naval vessel defense method, which comprises the following steps: acquiring a first position corresponding to a first target in a detection area; determining the threat level of the first target when the first target is positioned at the first position according to the first position, the power and attack performance characteristics of the first target and a vessel navigation route; calculating the threat level of the first target at a set area position based on the power performance characteristic and the attack performance characteristic of the first target and the vessel navigation route; and planning the navigation route of the naval vessel by integrating the threat levels of the first target at the first position and the set region position. According to the method, the threat degree of the naval vessel when the first target is positioned at each position in the naval vessel detection area is accurately measured and calculated according to various factors such as the advancing characteristic of the naval vessel, the power and attack performance characteristic of the first target, the position relation of the first target and the attack performance characteristic, the threat degree of the naval vessel is accurately measured and calculated, the detection area is accurately divided into a dangerous area and a safe area according to the measurement and calculation result, the navigation route of the naval vessel is planned according to the dangerous area and the safe navigation of the naval vessel is guaranteed.
Drawings
Fig. 1 is a flowchart of a vessel defense method according to an embodiment of the present invention;
fig. 2 is a flowchart of acquiring a first location in a method for defending a vessel according to an embodiment of the present invention;
fig. 3 is a flowchart for acquiring dynamic performance characteristics and attack performance of a first target in a vessel defense method according to an embodiment of the present invention;
fig. 4 is a flowchart of a first location threat level calculation in a vessel defense method according to an embodiment of the present invention;
fig. 5 is a flowchart of a set regional position threat level measurement and calculation in the vessel defense method according to the embodiment of the present invention;
fig. 6 is a flow chart of safe navigation route planning in a vessel defense method according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a first location threat level calculation in a vessel defense method according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating classification of a dangerous area and a safe area in a vessel defense method according to an embodiment of the present invention
FIG. 9 is a block diagram of the internal structure of a defense aid decision system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in 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.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements should not be limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of the present application.
The vessel defense method provided by the embodiment of the invention is realized by a defense aid decision system, wherein the defense aid decision system can be an independent physical server or terminal, can also be a server cluster formed by a plurality of physical servers, and can be a cloud server for providing basic cloud computing services such as a cloud server, a cloud database, cloud storage, a CDN (content delivery network) and the like; the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer and the like, but is not limited thereto; the defense aid decision-making system comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the computer program, the processor realizes the steps of the ship defense method; the defense aid decision making system further comprises a network interface, an input device and a display screen. The memory comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the defense aid decision making system stores an operating system and also stores a computer program, and when the computer program is executed by a processor, the computer program can enable the processor to execute the naval vessel defense method. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform a method of vessel defense. The display screen of the defense aid decision system can be a liquid crystal display screen or an electronic ink display screen, and the input device of the defense aid decision system can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the defense aid decision system, or an external keyboard, a touch pad or a mouse and the like.
As shown in fig. 1, in an embodiment, a method for defending a naval vessel is provided, and this embodiment is mainly exemplified by applying the method to the defense aid decision system, which is carried on a naval vessel and can control the naval vessel. A naval vessel defense method specifically comprises the following steps:
step S102, acquiring a first position corresponding to a first target in a detection area;
in this embodiment, the first target may be a submarine, a naval vessel, or other type of military equipment, which is an alternative embodiment and is not specifically limited herein; the first position is the position of the first target when the detection is started; in this embodiment, the first position of the first target is detected by a detection device, where the detection device may be a radar, a sonar system, or another type of detector, which is an alternative specific embodiment and is not limited in this respect.
Step S104, determining the threat level of the first target when the first target is positioned at the first position according to the first position, the dynamic performance characteristics and the attack performance characteristics of the first target and a naval vessel navigation route;
in this embodiment, the maximum attack range that can be reached by the first target in the ship navigation process when the first target is at the first position is measured and calculated according to the power and attack performance characteristics of the first target, and the range is compared with the ship navigation route to determine whether the first position where the first target is located is a position that is threatening to the ship, so as to determine the threat level of the first position, where threatening means that the ship is located within the attack range of the first target and there is a risk of being attacked by the first target.
Step S106, measuring and calculating the threat level of the first target at the set area position based on the power performance characteristic and the attack performance characteristic of the first target and the vessel navigation route;
in this embodiment, the set region position is a position selected by the defense aid decision-making system in the detection region according to a preset selection rule, and the set region position does not coincide with the naval vessel position and the first position; in the embodiment, the position of the first target is changed from the first position to the set area position for simulation so as to measure and calculate the threat level of the set area position, and after measurement and calculation are completed, the set area position is determined again for threat measurement and calculation until the threat measurement and calculation of all positions in the detection area are completed.
Step S108, integrating threat levels of the first target at the first position and the set region position, and planning a naval vessel navigation route;
in this embodiment, the detection area is divided into a dangerous area and a safe area of the first target for the naval vessel according to the measured first position and the threat level when the area position is set, and the navigation route of the naval vessel is adjusted and planned according to the division result, so as to ensure that the first target is always located in the safe area without threat to the naval vessel.
According to the method, the threat degree of the first target on the naval vessel when the first target is positioned at each position in the naval vessel detection area is accurately measured and calculated according to various factors such as the advancing characteristic of the naval vessel, the power and the attacking performance characteristic of the first target, the position relation of the first target and the attacking performance characteristic, the threat degree of the naval vessel when the first target is positioned at each position in the naval vessel detection area is accurately calculated and calculated, the detection area is accurately divided into a dangerous area and a safe area according to the calculation result, the navigation route of the naval vessel is planned according to the dangerous area and the safe navigation of the naval vessel is ensured.
In an embodiment, as shown in fig. 2, step S102 may specifically include the following steps:
and S202, establishing a coordinate system by taking the position of the naval vessel at the initial moment as an origin, wherein the initial moment is the moment when the naval vessel starts to detect.
In this embodiment, the coordinate system is a rectangular coordinate system established with the water surface as a coordinate plane and the location of the vessel at the time of starting detection as an origin, the x axis and the y axis are perpendicular to each other, and the x axis may be an east-west orientation, a north-south orientation or other orientations, which is an optional specific implementation manner and is not specifically limited herein; in this embodiment, a coordinate grid is established by using the minimum scales of the abscissa and the ordinate, where the actual length represented by the minimum scale may be a length of nautical miles, kilometers, meters, or other lengths, which is a specific implementation manner selected according to an actual accuracy requirement, and is not specifically limited herein; furthermore, the position of the set area may be selected as a coordinate point on the coordinate grid, and the selection order of the coordinate points may be an order from small abscissa and large ordinate, or may be a position from near to far from the first position, which is an optional specific embodiment and is not specifically explained herein.
Step S204, let the position of the first target in the coordinate system at the initial time be the first position.
In this embodiment, the coordinates of the coordinate grid point where the first position is located are made to be the coordinates (x) of the first position n ,y n ) The coordinates may quantitatively represent the distance between the first target and the vessel, for example, with 1 nautical mile as the minimum scale of the coordinate system, and if the coordinates of the first position are (53, 62), the first target is at 53 nautical miles in the positive x-axis direction and 62 nautical miles in the positive y-axis direction.
In one embodiment, as shown in fig. 3, the dynamic performance characteristic and the attack performance characteristic of the first target are obtained by:
step S302, obtaining identity characteristics of the first target, wherein the identity characteristics comprise appearance characteristics and behavior characteristics;
in this embodiment, the shape and behavior of the first target are monitored and captured by a feature capture device (such as an electronic telescope, a remote camera, a remote video camera, or other type of image or video device, which is an alternative embodiment and not specifically limited herein) to obtain image or video data containing the identity of the first target.
Step S304, identifying the model of the first target according to the identity characteristics;
in this embodiment, the image or video data including the shape feature and the behavior feature of the first target is analyzed, and key feature information with identification degree is extracted, for example, the first target is a submarine, the external profile of the submarine can be extracted, the position and the number of torpedo transmitting ports, the position and the number of driving propellers, a floating mode, a steering mode, and other key feature information are extracted, then the key feature information is compared with the feature information of each model of submarine in the submarine database, the model of submarine with the highest matching degree (having the most same feature information) with the first target is used as the signal of the first target, for example, the models of submarines A1, B1, and C1, the number of the feature information being the same as the key feature information of the first target is 3, 5, and 4, respectively, the signal of the first target is B1, wherein the selection and the number of the key feature information are determined according to the precision requirement, which is a selectable specific implementation manner, and is not specifically limited herein.
Step S306, determining the dynamic performance characteristics and the attack performance characteristics of the military equipment corresponding to the model;
in this embodiment, if the first target is a submarine, the performance parameter information corresponding to the model of the first target is derived, and the dynamic performance parameters and the attack performance parameters are extracted as the dynamic performance characteristics and the attack performance characteristics.
As shown in fig. 4, in an embodiment, the step S104 may specifically include the following steps:
step S402, enabling the first target to sail from the first position at any speed V and in any direction to reach all positions as a potential position area, wherein 0 < V max ，V max The maximum sailing speed of the first target;
in this embodiment, as shown in fig. 7, the potential location areas are all areas that the first target can reach in the current navigation process of the naval vessel, and the potential location areas can be centered around the first location and V max X t is a circle with a radius, where t is a navigation time period from the initial time, and any position within the range of the potential position area satisfies the following equation:
(x-x n ) 2 +(y-y m ) 2 ≤(V max ×t) 2
wherein x is n 、y m Respectively, the abscissa and the ordinate of the first position, and x, y respectively, the abscissa and the ordinate of the position reached by the first object at an arbitrary speed V from the first position.
Step S404, determining the closest distance between the vessel navigation route and the potential position area;
in this embodiment, the shortest distance between the boundary of the potential location area and the straight line where the vessel navigation route is located is the shortest distance, and if the current vessel navigation route passes through the potential location area, the shortest distance is 0, and the shortest distance is determined by the following formula:
wherein, V ship For the speed of travel, R, of a vessel nm (t) is the closest distance.
Step S406, classifying the first position as a safe position or a dangerous position according to the closest distance and the maximum attack distance of the first target;
in the present embodiment, t ≦ t for 0 ≦ t warn If any of t, R in (1) nm (t)>R max Classifying the first location as a safe location; otherwise, classifying the first location as a dangerous location, wherein t warn Dealing with threats for naval vesselsMinimum time required, R max Is the maximum attack distance; when the first position is a safe position, the first target cannot form attack threat to the naval vessel at any time when the naval vessel navigates by the current navigation route and navigation route; when the first position is a dangerous position, the first target forms attack threat to the naval vessel at least at one moment in the navigation process of the naval vessel along the current navigation route and the navigation route.
As shown in fig. 5, in an embodiment, the step S106 may specifically include the following steps:
step S502, selecting any position in the detection area except the first position and the ship position as a set area position;
in this embodiment, a simulation is performed by replacing the first position with the set area position, that is, the threat level of the set area position is measured when the first target is located at the set area position at the start of detection.
Step S504, carrying out threat level measurement and calculation on the set area position, and classifying the set area position into a dangerous position or a safe position according to the measurement and calculation result;
in this embodiment, the set area position is selected according to a preset selection rule, and the threat level of the set area position is measured according to the method of step S104.
And step S506, repeating the steps until the risk levels of all the positions in the detection area are measured and calculated.
In this embodiment, the selection sequence of the positions of the setting region may be an order from the near to the far from the first position, or an order from the smallest to the largest coordinates of the x and y axes within the detection region, or other selection sequences, which is an alternative embodiment and is not limited herein.
As shown in fig. 6, in an embodiment, the step S108 may specifically include the following steps:
step S602, as shown in fig. 8, dividing the area range where the safe position is located into a safe area, and dividing the area range where the dangerous position is located into a dangerous area;
in this embodiment, a first position and a set region position which are determined as a safe position are marked with a first color, such as green, and the safe region refers to a region outside an attack range of the first target at a position through which the ship travels when the first target is located therein; marking the first position or the set area position determined as the dangerous position as a second color, such as red, where the dangerous area is an area within an attack range of the first target at a position through which the vessel travels when the first target is located, where the colors of the first color and the second color are selected as optional specific implementations, and are not specifically limited herein;
step S604, detecting the current position of the first target, and judging whether the first target is in the safe area;
in the embodiment, the current position of the first target is detected and locked through the detection device, and when the position of the first target is located in a region formed by combining a green point set, the first target is judged to be in a safe region; when the position of the movable first target is located in the region formed by combining the red point sets, judging that the first target is located in a dangerous region; when the first target enters the hazardous area, the defense aid decision system generates an alarm instruction.
Step S606, if the first target is in the safe area, the current navigation route of the naval vessel is judged to be a safe navigation route, and the naval vessel can continue to navigate along the current navigation;
step S608, if the first target is in the dangerous area, adjusting a navigation route and/or a navigation speed of a naval vessel to re-determine the safe area and the dangerous area until the first target is in the safe area;
in this embodiment, the alarm information includes position information, traveling direction information, and traveling speed information of the first target, when the first target is in the dangerous area, the navigation route and/or the navigation speed of the vessel are adjusted according to the alarm information, for example, if the first target is located in the 20 th sea in the 30 ° north-east direction and travels in the vessel direction at a speed of 16 knots, the vessel is made to travel in the 30 ° south-west direction at a speed of more than 16 knots, and in the traveling process, the defense auxiliary decision system redefines the safe area and the dangerous area in the detection area at the new speed and the traveling direction of the vessel until the first target reenters the safe area.
According to the method, the threat degree of the first target on the naval vessel when the first target is positioned at each position in the naval vessel detection area is accurately measured and calculated according to various factors such as the travelling characteristic of the naval vessel, the power and attack performance characteristic of the first target, the position relation of the first target and the attack performance characteristic, the detection area is accurately divided into the dangerous area and the safe area according to the measurement and calculation result, in addition, the travelling characteristic of the naval vessel can be correspondingly adjusted according to the variation of the travelling characteristic of the first target, and the safe area and the dangerous area are further divided again, namely, the safe area and the dangerous area are divided in high real time, the highly uncertain flight path variation of the first target can be timely responded, the naval vessel is prevented from being attacked by the first target, and the navigation safety of the naval vessel can be further ensured.
The invention also proposes a defense assistant decision making system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring a first position corresponding to a first target in a detection area;
determining the threat level of the first target when the first target is positioned at the first position according to the first position, the power performance characteristic and the attack performance characteristic of the first target and a naval vessel navigation route;
calculating the threat level of the first target at a set area position based on the power performance characteristic and the attack performance characteristic of the first target and the vessel navigation route;
and planning the navigation route of the naval vessel by integrating the threat levels of the first target at the first position and the set region position.
The defense aid decision-making system further comprises a network interface, an input device and a display screen. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the defense aid decision making system stores an operating system and can also store a computer program, and when the computer program is executed by a processor, the processor can realize the naval vessel defense method. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform a method of vessel defense. The display screen of the defense aid decision system can be a liquid crystal display screen or an electronic ink display screen, and the input device of the defense aid decision system can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the defense aid decision system, or an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the configuration shown in fig. 9 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the defense aid decision system to which the present application is applied, and that a particular defense aid decision system may include more or less components than shown in the figures, or combine certain components, or have a different arrangement of components.
The present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring a first position corresponding to a first target in a detection area;
determining the threat level of the first target when the first target is positioned at the first position according to the first position, the dynamic performance characteristics and the attack performance characteristics of the first target and a vessel navigation route;
calculating the threat level of the first target at a set area position based on the power performance characteristic and the attack performance characteristic of the first target and the vessel navigation route;
and planning the navigation route of the naval vessel by integrating the threat levels of the first target at the first position and the set region position.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A method of vessel defense, comprising:
acquiring a first position corresponding to a first target in a detection area;
determining the threat level of the first target when the first target is positioned at the first position according to the first position, the power performance characteristic and the attack performance characteristic of the first target and a naval vessel navigation route;
calculating the threat level of the first target at a set area position based on the power performance characteristic and the attack performance characteristic of the first target and the vessel navigation route;
integrating threat levels of the first target at the first position and the set region position, and planning a naval vessel navigation route;
the acquiring a first position corresponding to a first target in a detection region includes:
establishing a coordinate system by taking the position of the naval vessel at an initial moment as an origin, wherein the initial moment is the moment when the naval vessel starts to detect;
setting the position of the first target in the coordinate system at the initial moment as the first position;
the dynamic performance characteristic and the attack performance characteristic of the first target are obtained through the following steps:
acquiring identity characteristics of the first target, wherein the identity characteristics comprise appearance characteristics and behavior characteristics;
identifying the model of the first target according to the identity characteristic;
determining power performance characteristics and attack performance characteristics of military equipment corresponding to the model, wherein the power performance characteristics comprise maximum sailing speed, and the attack performance characteristics comprise maximum attack distance;
the determining the threat level of the first target at the first position according to the first position, the power and attack performance characteristics of the first target and the vessel sailing route comprises:
making the first target from the first position with any speed V and any direction to reach the set of all positions as potential position area, wherein 0 < V max ，V max The maximum sailing speed of the first target;
determining a closest distance of the vessel navigation route to the potential location area;
classifying the first location as a safe location or a dangerous location according to the closest distance and a maximum attack distance of the first target;
any position within the range of potential position areas satisfies the following equation:
(x-x n ) 2 +(y-y m ) 2 ≤(V max ×t) 2
wherein t is the navigation duration from the initial time, x n 、y m Respectively an abscissa and an ordinate of the first position, and x, y respectively an abscissa and an ordinate of a position reached by the first target at an arbitrary speed V from the first position;
the determining the closest distance of the vessel navigation route to the potential location area comprises:
setting the shortest distance between the boundary of the potential position area and the straight line of the ship navigation route as the shortest distance, wherein the shortest distance is determined by the following formula:
wherein, V ship For the speed of travel of the vessel, R nm (t) is the closest distance;
the classifying the first location as a safe location or a dangerous location according to the closest distance and the maximum attack distance of the first target comprises:
for 0 ≦ t warn If any of t, R nm (t)＞R max Classifying the first location as a safe location; otherwise, classifying the first location as a dangerous location, wherein t warn Minimum time required for a vessel to respond to a threat, R max Is the maximum attack distance.
2. The method of claim 1, wherein the evaluating the threat level of the first target at a location in a defined area based on the dynamic performance characteristics and the attack performance characteristics of the first target, a vessel flight path, comprises:
selecting any position in the detection area except the first position and the ship position as a set area position;
carrying out threat level measurement and calculation on the set area position, and classifying the set area position into a dangerous position or a safe position according to a measurement and calculation result;
and repeating the steps until the risk level calculation of all the positions in the detection area is completed.
3. The method of claim 2, wherein the planning the vessel navigation route by integrating the threat levels of the first target at the first location and the set area location comprises:
dividing the area range of the safety position into a safety area, and dividing the area range of the dangerous position into a dangerous area;
detecting the current position of the first target and judging whether the first target is in the safe area;
if the first target is in the safe area, judging that the current navigation route of the naval vessel is a safe navigation route;
and if the first target is in the dangerous area, adjusting the navigation route and/or the navigation speed of the naval vessel to re-determine the safe area and the dangerous area until the first target is in the safe area.
4. A defense assistance decision system comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the vessel defense method of any one of claims 1 to 3.
5. A computer-readable storage medium, having a computer program stored thereon, which, when executed by a processor, causes the processor to carry out the steps of the vessel defense method as claimed in any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111544159.6A CN114275131B (en) | 2021-12-16 | 2021-12-16 | Ship defense method and device, defense aid decision system and storage medium |
Applications Claiming Priority (1)
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