CN114428514B - Heterogeneous fine guidance bullet group cooperative detection method - Google Patents
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Abstract
The invention provides a heterogeneous fine missile group cooperative detection method, which can be used for planning an optimal cooperative flight path under a set condition for each fine missile in a cooperative system on the premise of meeting requirements of fine missile medicine cooperative detection planning tasks. By establishing a plurality of fine missile and pesticide cooperative detection task area simplification models, the task areas are simplified into a height value which can completely cover the circumscribed rectangular surface of the detection task area and a required detection space, and the size of obstacles in the task area and the fine missile and pesticide detection capacity are described by utilizing the principle. In the planning process, the detection capability of the barriers and the fine ammunition guiding areas in the task area is strictly quantified, and the rectangular sub-areas are divided according to the quantification, so that the surrounding flight of the fine ammunition guiding areas in a certain rectangular sub-area does not need to be considered, and the generated flight route is simple and smooth, so that the full-coverage detection of the task area can be more accurately realized, and the method is suitable for accurate detection tasks.
Description
Technical Field
The invention relates to the technical field of heterogeneous fine guidance projectile group cooperation, in particular to a heterogeneous fine guidance projectile group cooperation detection method.
Background
The cooperative detection planning algorithm is that after a plurality of fine guided ammunitions receive a detection designated task area and a detection planning instruction, a detection route of a flight platform is planned based on performance constraints (detection width and turning radius) of the fine guided ammunitions and the detection task area. The detection task usually needs to scan and fly a given task area in an overlay manner (i.e. to plan a specified detection path), and the current mature path planning algorithm generally targets an endpoint and cannot cover the whole area. In real life, such as aerial monitoring of fine ammunition, indoor and outdoor cleaning, lawn trimming, spray painting robots and the like, urgent needs are brought to path planning in all regions, and therefore the method has important technical and strategic demands and significance.
The whole area coverage mode can be divided into two types, namely random whole area coverage and planning whole area coverage, wherein random whole area coverage means that the mobile platform rotates at a certain angle randomly to continue to move straight when the mobile platform cannot move straight. This method is simple but inefficient and typically takes a significant amount of time to complete the full area coverage. The planning type full-area coverage adopts a certain performance evaluation function to control the traversing motion of the mobile platform so as to optimize the performance evaluation function. The performance evaluation function is typically a percentage of coverage area, an overlap ratio, or energy consumption, etc. The cooperative detection planning algorithm is a full-coverage detection planning algorithm based on planning thought and considering motion constraint of a platform. Because the size of the obstacles in the task area and the fine guided ammunition detection capability cannot be quantitatively analyzed in the existing planning algorithm, the generated path is not smooth, and the performability is poor.
Disclosure of Invention
In view of the above, the invention provides a heterogeneous fine missile group cooperative detection method, which can be used for planning an optimal cooperative flight path under a set condition for each fine missile explosive in a cooperative system on the premise of meeting requirements of fine missile explosive cooperative detection planning tasks.
In order to achieve the above object, the present invention provides a method for cooperative detection of heterogeneous fine guidance projectile group, comprising the following steps:
a plurality of fine guided ammunitions are put in the air to realize communication networking, a ground control station edits and sends detection task area information to the fine guided ammunition serving as a network center, and the rest fine guided ammunitions send self-constraint information to the central fine guided ammunition;
the center fine-guide ammunition simplifies the received external contour shape of the detection task area into an external rectangular surface which completely covers the detection task area and the height of a required detection space;
decomposing an external rectangular surface of a detection task area into a plurality of sub-areas by using a region decomposition method for the central fine guided ammunition, and simultaneously recording corresponding detection height information;
marking the position and height of the barrier and the position of each fine guided ammunition in the divided rectangular sub-area by the central fine guided ammunition, and marking detection height information at the same time;
establishing a connection relation of different rectangular sub-regions by the central fine guided ammunition, and applying different constraint conditions according to different task requirements to realize traversal and avoid repeated detection;
and the central fine guided ammunition distributes the result of the flight path planning to each fine guided ammunition in the network and a ground control station, and each fine guided ammunition executes a cooperative detection task.
When the ground control station edits and sends the information of the detection task area to the fine ammunition serving as the network center, the longitude and latitude information of the detection task area is converted into corresponding geodetic coordinate position information.
Wherein the area decomposition method includes a trapezoidal decomposition method, a boating decomposition method, and a rectangular decomposition method.
The decomposition process of the rectangular decomposition method is operated as follows:
dividing a rectangular sub-area according to an obstacle from the surrounding environment, and finding a lower left corner point M of the obstacle 1 And the upper right corner point N 1 And the connecting line of the two points is taken as a diagonal line and the obstacle is virtualized to be a rectangular obstacle, and the length of the diagonal line of the rectangular obstacle is M 1 N 1 Taking M point of the rectangular barrier as a starting point, and making a cutting line along the longitudinal direction until reaching the boundary of the external rectangular surface or the rectangular barrier or other dividing lines, taking N point of the rectangular barrier as a starting point, and making a cutting line along the transverse direction until reaching the boundary of the external rectangular surface or the rectangular barrier or other dividing lines to form rectangular sub-areas, wherein the diagonal length of the nth rectangular sub-area is named as z an (ii) a Taking the minimum value z of the diagonal length of each rectangular sub-region a As a reference for dividing rectangular sub-regions;
taking the rectangular subarea as a center, distributing the rectangular subareas with the same size in a planar array until the rectangular subareas are connected with the boundary of an external rectangular surface, and simultaneously recording the height information of the obstacles;
dividing the mission area according to self-restriction from the fine-guided ammunition, and enabling the fine-guided ammunition to have the maximum longitudinal directionThe lateral and transverse detection distance is used as the side length of a rectangular detection area, the current position coordinates of the fine guided ammunition are used as the middle point of the boundary of the lower side of the rectangular sub-area, and the rectangular detection area is used as the rectangular sub-area; the diagonal length of the nth rectangular subregion is designated z bn Selecting the diagonal length z of the sub-rectangular area b The smallest fine missile medicine is used as a benchmark;
taking the rectangular subarea as a center, distributing rectangular subareas with the same size in a planar array manner until the rectangular subareas are connected with the boundary of an external rectangular surface, and recording the detection height information of the fine guided ammunition;
comparing the diagonal length of the rectangular subregions with different sources, and taking the rectangular subregion with smaller diagonal length as the final rectangular subregion.
And if the ground control station requires rough detection, taking the maximum value of the boundary of the sub-rectangular area obtained in the dividing process as a final boundary value.
And applying different constraint conditions according to different task requirements and realizing the constraint conditions by utilizing search-type or heuristic algorithms such as a decision tree algorithm, an improved A-algorithm, a genetic algorithm and the like.
Wherein, if fast detection is pursued, the detection time is used as an evaluation index; when pursuing the investigation effect, the percentage of the coverage area and the overlapping rate are used as evaluation indexes; and when a patrol detection mode is adopted, the length of the collaborative flight path and the energy consumption are used as evaluation indexes.
Has the beneficial effects that:
according to the invention, a plurality of fine missile and pesticide cooperative detection task area simplification models are established, the task areas are simplified into a height value which can completely cover an external rectangular surface of the detection task area and a required detection space, and the size of an obstacle and the fine missile and pesticide detection capability in the task area are described by utilizing the principle. In the planning process, the detection capability of the barriers and the fine ammunition guiding areas in the task area is strictly quantified, and the rectangular sub-areas are divided according to the quantification, so that the surrounding flight of the fine ammunition guiding areas in a certain rectangular sub-area does not need to be considered, and the generated flight route is simple and smooth, so that the full-coverage detection of the task area can be more accurately realized, and the method is suitable for accurate detection tasks.
The method can apply different constraint conditions to the collaborative detection planning process, and adopt different evaluation indexes, thereby carrying out targeted planning on collaborative investigation tasks under different conditions and different conditions, and further meeting the task requirements.
Drawings
FIG. 1 is a flow chart of cooperative probing according to the present invention.
FIG. 2 is a simplified schematic diagram of the circumscribed rectangle surface of the present invention.
Fig. 3 is a schematic diagram illustrating the partitioning principle of rectangular sub-regions of the barrier region according to the present invention.
FIG. 4 is a schematic diagram of the principle of dividing the restricted rectangular sub-region of the fine guided ammunition of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
In the cooperative detection planning process of a plurality of fine guided missiles, the invention realizes the whole-area coverage of the detection mission area and simultaneously reduces the detection repetition rate. Therefore, the method processes multiple planning constraints of the fine guided ammunition on one hand, namely performs time and space constraint and cooperation on multiple fine guided ammunition on the other hand, and simultaneously fuses the time and space cooperation relationship, thereby being a combined optimization problem under complex space-time constraint. The problem of the cooperative detection planning of a plurality of fine guided missiles is a multidimensional and multi-constraint combined optimization problem. The invention mainly researches a plurality of fine missile medicine cooperative detection planning problems in a two-dimensional space, models the problems related to the problems, such as constraint, cooperative relationship and the like, and based on the planning thought and the consideration of the motion constraint of a platform, the invention provides a heterogeneous fine missile group cooperative detection method, which plans a cooperative flight path for optimizing system performance evaluation functions (coverage area percentage, overlapping rate, energy consumption and the like) for each fine missile medicine in a cooperative system on the premise of meeting the requirements of fine missile medicine cooperative detection planning tasks. The steps of the cooperative detection method of the present invention are shown in fig. 1, and specifically include the following steps:
step 1: a plurality of fine guided ammunitions realize communication networking in the air, a ground control station edits and sends detection task area information to the fine guided ammunition serving as a network center, and the rest fine guided ammunitions send self-restraint information to a central fine guided ammunition;
step 2: the center fine-guide ammunition simplifies the received external contour shape of the detection task area into an external rectangular surface which can completely cover the detection task area and the height of a required detection space;
and 3, step 3: decomposing an external rectangular surface of a detection task area into a plurality of sub-areas by using a region decomposition method for the central fine missile medicament, and simultaneously recording corresponding detection height information;
and 4, step 4: marking the position and height of the barrier and the position of each fine guided ammunition in the divided rectangular sub-area by the central fine guided ammunition, and marking detection height information at the same time;
and 5: establishing a connection relation of different rectangular sub-regions by the central fine guided ammunition, namely a detection sequence of the fine guided ammunition, applying different constraint conditions according to different task requirements, and meeting related evaluation indexes of realizing traversal, avoiding repeated detection and the like;
step 6: and the central fine guided ammunition distributes the result of the flight path planning to each fine guided ammunition in the network and a ground control station, and each fine guided ammunition executes a cooperative detection task.
The size of the divided sub-regions directly influences the detection time and the detection effect, and the path planning of the sub-regions connection plays a role in starting and stopping in the detection task planning of the whole region coverage, so that the reasonable planning is made according to the specific situation of the sub-region division of the previous stage, and the optimal starting point of the traversal of each sub-region of the next stage is ensured. Establishing the connection relation of different rectangular sub-regions requires specific design according to actual task requirements, and generally speaking, the research of a related algorithm focuses on how to improve the coverage efficiency, that is, each sub-region is covered by the shortest path in the shortest time.
The steps of the present invention are specifically explained as follows:
step 1: a plurality of fine guided ammunitions realize communication networking in the air, a ground control station edits and sends detection task area information to the fine guided ammunition serving as a network center, and the rest fine guided ammunitions send self-restraint information to the central fine guided ammunition.
It should be noted that the exploration task area on the map is usually displayed as longitude and latitude information and altitude information, and when the exploration range is large, the influence of the earth curvature on the exploration area cannot be ignored, and the longitude and latitude information of the exploration task area must be converted into corresponding geodetic coordinate position information.
Step 2: the center fine-guide ammunition simplifies the shape of the received external outline of the detection task area into a circumscribed rectangular plane which can completely cover the detection task area and the height of the required detection space.
As shown in fig. 2, after the central smart guided ammunition receives the information of the detection task area, the external outline shape of the detection task area is simplified into an external rectangular surface which can completely cover the detection task area, and meanwhile, the height of the required detection space is marked, so that the detection task area can be represented as a regular hexahedron.
And step 3: the central fine guided missile medicine utilizes a region decomposition method to decompose an external rectangular surface of a detection task region into a plurality of sub-regions.
The step can adopt a trapezoidal decomposition method, a cattle cultivation decomposition method, a rectangular decomposition method and other methods to decompose the subareas into different shapes. In the process of decomposing the circumscribed rectangular surface, the influence of obstacles from the surrounding environment and self-restraint of the precisely guided ammunition need to be considered at the same time. Here, illustrated by a rectangular decomposition method, the decomposition process operates as follows:
as shown in fig. 3, first, the rectangular sub-area is divided according to the obstacles from the surrounding environment, and the lower left corner point M of the obstacle 1 is found 1 And the upper right corner point N 1 And the connecting line of the two points is taken as a diagonal line and the obstacle is virtualized to be a rectangular obstacle, and the length of the diagonal line of the rectangular obstacle is M 1 N 1 Taking M point of the rectangular obstacle as a starting point, cutting a line along the longitudinal direction until reaching the boundary of the external rectangular surface or the rectangular obstacle or other dividing lines, and taking N point of the rectangular obstacle as a starting point along the transverse directionMaking a cutting line to the boundary of the circumscribed rectangular surface or the rectangular barrier or other cutting lines to form rectangular subregions, wherein the diagonal length of the nth rectangular subregion is named as z an . Taking the minimum value z of the diagonal length of each rectangular sub-region a As a reference for rectangular subregion division, i.e. z a ＝min{z a1 ，z a2 ，...，z an }；
Taking the rectangular subarea as a center, distributing the rectangular subareas with the same size in a planar array until the rectangular subareas are connected with the boundary of an external rectangular surface, and simultaneously recording the height information of the obstacles;
as shown in fig. 4, secondly, dividing a task area according to self-restraint of the fine guided ammunition, taking the maximum longitudinal and transverse detection distance of the fine guided ammunition 1 as the side length of a rectangular detection area, taking the current position coordinate of the fine guided ammunition as the middle point of the lower side boundary of the rectangular sub-area, and taking the rectangular detection area as the rectangular sub-area; similarly, the diagonal length of the nth rectangular subregion is designated z bn Selecting the diagonal length z of the sub-rectangular area b Minimum fine guided ammunition as a benchmark, i.e. z b ＝min{z b1 ，z b2 ，...，z bn }；
Taking the rectangular subarea as a center, distributing the rectangular subareas with the same size in a planar array manner until the rectangular subareas are connected with the boundary of the external rectangular surface, and simultaneously recording the fine guided ammunition detection height information;
finally, comparing the diagonal length of the rectangular subregions with different sources, and taking the rectangular subregion with smaller diagonal length as the final rectangular subregion, namely z = min { z } a ，z b }；
The detection capability of the barriers and the fine-guide ammunition in the task area is strictly quantified in the division process of the rectangular sub-area, and the full-coverage detection of the task area can be more accurately realized. If the ground control station requires rough detection, the maximum value of the boundary of the sub-rectangular area obtained in the dividing process can be used as a final boundary value, so that the detection time is effectively shortened.
And 4, step 4: and marking the positions of the obstacles and the positions of the fine guided ammunition in the divided rectangular sub-regions by the central fine guided ammunition.
In the step, the degree of drug property quantization of the obstacles and the fine missiles in the mission area is high, wherein the obstacles are most likely to be marked as a mission space consisting of a plurality of regular hexahedrons with different heights, and the mission space is relatively fine, so that a subsequently generated route is smoother.
And 5: the central fine guided ammunition establishes a connection relation of different rectangular sub-regions, namely a result of track planning, namely a detection sequence of fine guided ammunition, and different constraint conditions are applied according to different task requirements, so that the requirements of realizing traversal and avoiding repeated detection and other related evaluation indexes are met.
The process can be realized by utilizing search-type or heuristic algorithms such as a decision tree algorithm, an improved A-algorithm, a genetic algorithm and the like, and the evaluation index is set according to the actual requirement of the detection task. If fast detection is pursued, the detection time can be used as an evaluation index; the coverage area percentage, the overlapping rate and the like can be used as evaluation indexes when pursuing the investigation effect; when a patrol detection mode is adopted, the length of a collaborative flight path, energy consumption and the like can be used as evaluation indexes, and flight paths can be changed due to different indexes.
Step 6: and the central fine guided ammunition distributes a track planning result to each fine guided ammunition and a ground control station in the network, wherein the track planning result is a detection path, and each fine guided ammunition executes a cooperative detection task according to the detection path to complete detection.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A heterogeneous fine missile group cooperative detection method is characterized by comprising the following steps:
a plurality of fine guided ammunitions are communicated and networked in the air, a ground control station edits and sends detection task area information to the fine guided ammunition serving as a network center, and the rest fine guided ammunitions send self-restraint information to a central fine guided ammunition;
the central fine guided ammunition simplifies the received external contour shape of the detection task area into an external rectangular surface which completely covers the detection task area and fine guided ammunition detection height information;
decomposing an external rectangular surface of a detection task area into a plurality of sub-areas by using a region decomposition method for the central fine missile explosive, and simultaneously recording the detection height information of the fine missile explosive; the area decomposition method adopts a trapezoidal decomposition method or a rectangular decomposition method, and the influence of obstacles from the surrounding environment and self-restraint from the precisely guided ammunition is considered in the decomposition process, and the method specifically operates as follows:
partitioning sub-regions according to obstacles from the surrounding environment: virtualizing the barrier into a virtual barrier according to the shape of a set subregion, taking the geometric boundary point of the virtual barrier as a starting point, making a secant till the boundary of an external rectangular surface or other virtual barriers or other dividing lines to form a plurality of subregions, taking the smallest subregion in each subregion as a dividing reference, taking the virtual barrier as a center, distributing subregions with the same size in a planar array till the boundary of the external rectangular surface, and simultaneously recording the detection height information of the fine missile medicament;
the sub-zones are divided according to self-constraints from the fine-ammunition: taking the maximum longitudinal and transverse detection distances of the fine guided ammunition as the side length of a detection area, taking the current position coordinates of the fine guided ammunition as the middle point of the boundary at the lower side of the subarea, and taking the detection area as the subarea; taking the minimum of all sub-regions as a dividing reference, taking the sub-region as a center, distributing the sub-regions with the same size in a planar array manner until the boundary of an external rectangular surface, and simultaneously recording the detection height information of the fine guided ammunition;
finally, comparing the diagonal length of the two subregions with different sources, and taking the subregion with smaller diagonal length as the final subregion, namely z = min { z } a ，z b }；
Marking the position and height of the barrier and the position of each fine guided ammunition in the divided sub-regions by the central fine guided ammunition, and marking fine guided ammunition detection height information;
the central fine guided ammunition establishes a connection relation of different sub-areas, namely a result of track planning, namely a detection sequence of fine guided ammunition, and different constraint conditions are applied according to different task requirements, so that traversal is realized and repeated detection is avoided;
and the central fine guided ammunition distributes a track planning result to each fine guided ammunition and a ground control station in the network, and each fine guided ammunition executes a cooperative detection task.
2. The method of claim 1, wherein the ground control station converts longitude and latitude information of the mission area into corresponding geodetic coordinate position information when editing and transmitting the mission area information to the guided ammunition serving as the network center.
3. The method of claim 1, wherein if the ground control station requires a coarse sounding, the maximum value of the rectangular sub-region boundary obtained in the dividing process is used as a final boundary value;
and applying different constraint conditions according to different task requirements by using a decision tree algorithm, an improved A-algorithm or a genetic algorithm.
4. The method of claim 3, wherein if fast detection is pursued, the detection time is taken as an evaluation index; when pursuing the investigation effect, the percentage of the coverage area and the overlapping rate are used as evaluation indexes; and when a patrol detection mode is adopted, the length of the collaborative flight path and the energy consumption are used as evaluation indexes.
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