CN114462255B - Task planning method for airborne radar networking - Google Patents
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Abstract
The invention discloses a task planning method for airborne radar networking, which comprises the steps of firstly modeling task planning in airborne radar networking, and formalizing the problem of minimization of comprehensive cost, wherein the comprehensive cost of one task consists of delay cost, loss cost and energy consumption cost; and then a heuristic task planning method is provided to determine the distribution condition of each task. The invention cooperatively considers the effectiveness of task execution and the energy consumption of the task, and solves the task planning problem of airborne radar networking.
Description
Technical Field
The invention relates to an airborne radar networking technology, in particular to a mission planning method for airborne radar networking.
Background
Along with the development of science and technology, electromagnetic environment is more and more complicated, and the radar has also become the indispensable electronic equipment of platform, and wherein airborne radar refers to the radar of installing on maneuvering platforms such as aircraft, naval vessels, vehicle. Due to the strong maneuvering capability, the airborne radar is more suitable for complex and variable application environments. However, due to the limited operational capability of the single station airborne radar, only a small area can be acted on.
In the practical application of electronic countermeasure, multiple maneuvering platforms are often needed to fight cooperatively, so networking of airborne radars can be considered. The airborne radar networking has high mobility and cooperative work capacity, so that the information acquisition capacity and the target processing capacity can be obviously improved. The average power of the radar during operation is large, however, many mobile platforms do not have continuous energy supply, and even if the airborne radar is networked, the problem of insufficient energy is faced. Therefore, for airborne radar networking, a mission planning method is urgently needed, and used energy is saved under the condition that effective completion of missions is guaranteed.
There has been relevant research work on the mission planning problem of radar networking. However, these prior arts ignore the problem of energy utilization in airborne radar networking, and especially do not study the effectiveness and optimization of energy for cooperative consideration of task execution.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, provides a task planning method for airborne radar networking, solves the problem that the use condition of airborne radar energy is not considered in the prior art, and can cooperatively consider task execution effectiveness and optimize energy.
The technical scheme is as follows: the invention discloses a mission planning method for airborne radar networking, which comprises the following steps:
step (1) establishing a networking task model of airborne radar
Step (1.1), respectively calculating delay cost D of the airborne radar j for executing the task i ij Loss cost λ i And energy consumption cost E ij ；
Step (1.2), calculating the comprehensive Cost of the airborne radar j to execute the task i ij And the comprehensive Cost is determined ij The minimization problem is expressed as follows:
x ij ＝{0，1} (5)
wherein x ij =1 denotes assignment of task i to radar j for execution, x ij =0 indicates that the task i is not assigned to the radar j for execution, M and N in equation (3) represent the total number of airborne radars and the total number of tasks, respectively, constraint (4) represents that one task can be executed by only one radar at most, and constraint (5) ensures that x is executed ij Is a boolean variable;
step (2) determining the distribution condition of each task by utilizing a heuristic task planning method
Step (2.1), according to loss cost lambda, all tasks i Sequencing in a non-increasing sequence and numbering in sequence to form a queue S, numbering all airborne radars to form an airborne radar set R; the important tasks can be guaranteed to be distributed preferentially according to the loss cost sequencing;
step (2.2), taking out a task i with the largest loss cost from the S, namely the head of the queue, traversing all radars to obtain a radar number Num for executing the task i i And start execution Time of task i i ；
Step (2.3), judging Num i If the value is infinity, the task is not executed; if not, assign task i to Num i On the indicated radar, the radar performs this task, and the start execution time is:
and (2.4) repeating the step (2.2) and the step (2.3) until all tasks are completely distributed.
Further, the specific content of the step (1.1) is as follows:
let the residence time Δ t of task i i Moving within the corresponding time window if the actual completion time of the task does not exceed its expected completion time e i Then no delay cost D is generated ij If the actual completion time of the task exceeds its expected completion time e i And does not exceed its cutoff completion time d i Then delay cost D is generated ij (ii) a Delay cost D generated when the task i is executed on the onboard radar j ij The following were used:
wherein r is i Denoted as the earliest execution time, s, of task i ij Denoted as the moment, Δ t, at which task i actually starts to execute on radar j i Expressed as the dwell time of task i, e i Expressed as the desired completion time of task i, d i Expressed as the deadline completion time, w, for task i i Is the unit delay cost of task i;
when the completion time of the task i exceeds the ending completion time, a loss cost is generated, and the loss cost of the task i is represented as lambda i ；
When the radar executes the task, certain energy is consumed, and the energy consumption cost E generated when the task i is executed on the radar j ij Is shown as
E ij ＝σp ij Δt i (2)
Where σ denotes the unit energy cost, p ij The average power required to perform task i for radar j is expressed as the power required to perform the same task varies due to the different distances between different radars and the same target.
Further, the step (2.2) includes the following detailed processes:
step (2.2.1), setting three temporary variables: minCost i ，Num i And Time i Respectively recording the minimum integrated cost of the task i, the radar number for executing the task i and the starting execution time of the task i, and initializing MinCost i ＝∞，Num i ＝∞，Time i ＝∞，s ij ＝∞；
Step (2.2.2), selecting a radar which is not traversed from the radar set R, setting the radar as j, and initializing the comprehensive Cost executed on the radar j of the task i ij = infinity, it is judged that the radar j is in the time interval [ r ∞ i ，d i ]Whether there is a continuous idle duration greater than or equal to the dwell time Δ t i If so, entering step (2.2.3), otherwise, entering step (2.2.1); r is i Refers to the earliest execution time at which task i can start execution; d i The task i is finished at the finishing moment;
step (2.2.3), if the radar j is in the time interval [ r ] i ，d i ]The time length of a plurality of continuous idle time in the memory is more than or equal to delta t i Is selected to be closest to the time instant r i Has a length of Δ t i Will start the actual execution time s of the execution of the task i on the radar j ij Is set to be closest to r i Has a length of Δ t i The starting time of the time period of (a);
step (2.2.4), calculating the actual completion time of the task i executed on the radar j, namely: s ij +Δt i ；
Step (2.2.5) if s ij +Δt i ＞e i Then the overall Cost of task i executing on radar j is Cost ij ＝D ij +E ij ＝w i ·(s ij +Δt i -e i )+σp ij Δt i ；e i Expressed as the expected completion time of task i; σ denotes the unit energy cost, p ij Represents the average power required to perform task i for radar j;
if s is ij +Δt i ≤e i Then the overall Cost of task i executing on radar j is Cost ij ＝E ij ＝σp ij Δt i (ii) a Then judging the comprehensive Cost ij Whether less than the loss cost λ of task i i If Cost is ij ＜λ i If so, the comprehensive Cost is judged ij Whether it is less than the current minimum composite Cost, if Cost ij ＜MinCost i If so, let MinCost i ＝Cost ij ，Num i ＝j，Time i ＝s ij If Cost is ij ≥MinCost i ；
If Cost ii ≥λ i Judging whether the current airborne radar set R has an airborne radar which is not traversed, if so, returning to the step (2.2.2), and if not, outputting Num i And Time i And ends the traversal.
Has the advantages that: the optimization of the effectiveness and the energy use of task execution in the airborne radar networking is cooperatively considered, the sum of the delay cost, the loss cost and the energy consumption cost of the task is used as the comprehensive cost, and the problem of comprehensive cost minimization is constructed; and then designing a heuristic task planning method, and distributing the tasks to a proper radar on the premise of ensuring that the important tasks are effectively executed so as to save the use of energy, wherein the time complexity is O (MN). The time complexity of the mission planning method of the present invention is O (MN): a total of N tasks, for each of which all radars, a total of M radars, are traversed. Wherein traversing a radar comprises: and judging the execution condition of the task on the radar, calculating the execution cost and updating the execution information, wherein the operations can be completed within a constant time. Therefore, the time of the present invention is complicated by O (MN).
Drawings
FIG. 1 is a schematic diagram of a task execution scenario in the present invention;
FIG. 2 is a flow chart of a mission planning method of the present invention;
FIG. 3 is a flow chart of traversing radar in the present invention.
Detailed Description
The technical solution of the present invention is explained in detail below, but the scope of the present invention is not limited to the above
Examples
As shown in figure 1, step (1) of establishing a networking task model of the airborne radar
Step (1.1), respectively calculating delay cost D of the airborne radar j for executing the task i ij Loss cost λ i And energy consumption cost E ij ；
Step (1.2), calculating the comprehensive Cost of the airborne radar j to execute the task i ij And the comprehensive Cost is determined ij The minimization problem is expressed as follows:
x ij ＝{0,1} (5)
wherein x ij =1 denotes assignment of task i to radar j for execution, x ij =0 indicates that the task i is not assigned to the radar j for execution, M and N in equation (3) respectively indicate the total number of airborne radars and the total number of tasks, constraint (4) indicates that one task can be executed by only one radar at most, and constraint (5) ensures that x is assigned to each radar for execution ij Is a boolean variable;
step (2) determining the distribution condition of each task by utilizing a heuristic task planning method
Step (2.1), according to loss cost lambda, all tasks i Sequencing in a non-increasing sequence and numbering in sequence to form a queue S, numbering all airborne radars to form an airborne radar set R; measuring the importance degree of the tasks through the loss cost, taking the priority of the tasks as the loss cost, wherein the higher the priority is, the larger the loss cost is;
step (2.2), taking out a task i with the largest loss cost from the S, namely the head of the queue, traversing all radars to obtain a radar number Num for executing the task i i And start execution Time of task i i ；
Step (2.3), judging Num i If the value is infinity, the task is not executed; if infinity, task i is assigned to Num i On the indicated radar, the radar performs this task, and the start execution time is:
and (2.4) repeating the step (2.2) and the step (2.3) until all tasks are distributed completely.
Earliest execution time r i Refers to the earliest moment that task i can begin execution.
Dwell time Δ t i Which is a continuous period of time required for a radar to complete task i.
Expected completion time e i Meaning that task i is completed before this time, the quality of completion of the task is maximized.
End completion time d i Refers to the deadline at which task i is completed.
The time window is a time period in which a certain task can be executed, and is a time interval in which the residence time is allowed to move back and forth.
Example 1;
in this embodiment, taking a certain airborne radar networking as an example, the task planning method specifically includes the following steps:
the radar set in the airborne radar networking is set to be {1,2}, the energy consumption cost of the energy consumption unit of the task is sigma =1, and the task set is set to be {1,2,3,4,5}. The relevant parameters for all tasks are shown in table 1.
TABLE 1 relevant parameters of tasks
Due to the geographical location, the distances between different airborne radars and the same target are different, and therefore the power required by different radars to perform the same task is also different.
The power relationship between each airborne radar and the corresponding task in this embodiment is shown in table 2.
TABLE 2 Power correspondence between radars and tasks
And determining the distribution condition of each task according to the result obtained by the heuristic task planning method, and adding the comprehensive cost of each task to obtain the sum of the comprehensive costs of all the tasks. The 3 execution cases of a task on a radar are shown in fig. 1.
As shown in fig. 2, the specific process of the heuristic task planning method in this embodiment is from step (2.1) to step (2.4):
(2.1) sorting and numbering all tasks in a non-decreasing loss cost order in sequence to form a queue S = {3,2,4,5,1}, and numbering all radars to form a radar set R = {1,2}.
(2.2) taking out a task i =3 with the largest loss cost from S, namely the head of the queue, traversing all radars to obtain the number Num of the radars for executing the task 3 3 And start execution Time of task i 3 ；
(2.2.1) setting three temporary variables：MinCost 3 ，Num 3 And Time 3 Respectively used for recording the minimum integrated cost of the task 3, the radar number for executing the task 3 and the starting execution time of the task 3, and initializing MinCost 3 ＝∞，Num 3 ＝∞，Time 3 ＝∞，s 3j ＝∞；
(2.2.2) selecting one radar from the set R of radars that has not been traversed, i.e. radar 1, initializing the Cost of task 3 for execution on radar 1 31 = infinity, the radar is judged to be in the time interval [1.5,5,5 ∞]If the time period with the continuous idle time length being more than or equal to 2 exists, entering the step (2.2.3), otherwise, entering the step (2.2.9);
(2.2.3) if the radar 1 is in the time interval [1.5,5,5]A plurality of time periods with continuous idle time length more than or equal to 2 exist in the radar, the time period with the length of 2 closest to the time 1.5 is selected, and the execution starting time s of the execution of the task 3 on the radar 1 is set 31 Set to the start of a period of length 2 closest to time 1.5, i.e. s 31 ＝1.5；
(2.2.4) calculating the completion time s of task 3 performed on radar 1 31 +Δt 3 =3.5 if s 31 +Δt 3 ≤e 3 Go to step (2.2.5), otherwise go to step (2.2.6), since 3.5<4, so step (2.2.5) is entered;
(2.2.5) the combined Cost of task 3 to perform on Radar 1 is Cost 31 ＝E 31 ＝σp 31 Δt 3 Entering step (2.2.7);
(2.2.7) if the combined Cost of task 3 for execution on radar 1 is less than the lost Cost of the task, cost 31 <λ 3 Step (2.2.8) is entered, otherwise step (2.2.9) is entered, since 2.2<12, so step (2.2.8) is entered;
(2.2.8) if the combined Cost of task 3 for execution on Radar 1 is less than the minimum current minimum combined Cost, cost 31 <MinCost 3 If so, let MinCost 3 ＝Cost 31 ＝2.2，Num 3 ＝1,Time 3 ＝s 31 ＝1.5；
(2.2.9) if there are more radars not traversed, executing the step (2.2.2), otherwise, outputting Num 3 And Time 3 And ending the traversal.
(2.3) judgment of Num 3 If the value is infinity, the task is not executed; otherwise, task 3 is assigned to Num 3 On the indicated radar, the starting time is
After task 3 has traversed all radars, the information saved in the temporary variables is: minCost 3 ＝1.6，Num 3 ＝2，Time 3 =1.5, so task 3 is eventually assigned to radar 2, with a start execution time of 1.5 and a total cost of 1.6.
And (2.4) repeating the step (2.2) and the step (2.3), and finishing the whole heuristic task planning method when the distribution condition of all tasks is determined.
Similarly, the distribution of task 3 is determined, and the distribution of all tasks obtained according to the task planning algorithm is shown in table 3. If the radar number is ∞, it means that the task is not to be performed.
TABLE 3 assignment of tasks
After the heuristic task planning method is finished, the sum of the comprehensive costs of all the tasks currently in the embodiment is 28.1.
In summary, the invention first models the task planning in the airborne radar networking, formalizes the problem of minimizing the comprehensive cost, wherein the comprehensive cost of one task is composed of delay cost, loss cost and energy consumption cost; and then a heuristic task planning method is provided to determine the distribution condition of each task. The invention cooperatively considers the effectiveness of task execution and the energy consumption of the task, and solves the task planning problem of airborne radar networking.
Claims (1)
1. A task planning method for airborne radar networking is characterized by comprising the following steps: the method comprises the following steps:
step (1) establishing a networking task model of airborne radar
Step (1.1), respectively calculating delay cost D of the airborne radar j for executing the task i ij Loss cost λ i And energy consumption cost E ij ；
Let the residence time Δ t of task i i Moving within the corresponding time window if the actual completion time of the task does not exceed its expected completion time e i Then no delay cost D is generated ij If the actual completion time of the task exceeds its expected completion time e i And does not exceed its cutoff completion time d i Then delay cost D is generated ij (ii) a Delay cost D generated when the task i is executed on the airborne radar j ij The following were used:
wherein r is i Denoted as the earliest execution time, s, of task i ij Denoted as the instant at which task i actually starts to execute on radar j, Δ t i Expressed as the dwell time of task i, e i Expressed as the desired completion time of task i, d i Expressed as the deadline completion time, w, for task i i Is the unit delay cost for task i;
when the completion time of task i exceeds the cutoff completion time, a loss cost λ is generated i ；
Energy cost E incurred when task i is executed on radar j ij Is shown as
E ij ＝σp ij Δt i (2)
Where σ denotes the unit energy cost, p ij Represents the average power required to perform task i for radar j;
step (1.2), calculating the comprehensive Cost of the airborne radar j to execute the task i ij And the comprehensive Cost is determined ij The minimization problem is expressed as follows:
x ij ＝{0，1} (5)
wherein x ij =1 denotes assignment of task i to radar j for execution, x ij =0 indicates that the task i is not assigned to the radar j for execution, M and N in equation (3) represent the total number of airborne radars and the total number of tasks, respectively, constraint (4) represents that one task can be executed by only one airborne radar at most, and constraint (5) ensures that x is executed ij Is a boolean variable;
step (2) determining the distribution condition of each task by utilizing a heuristic task planning method
Step (2.1), according to loss cost lambda, all tasks i Sequencing in a non-increasing sequence and numbering in sequence to form a queue S, numbering all airborne radars to form an airborne radar set R;
step (2.2), taking out a task i with the largest loss cost from the S, namely the head of the queue, traversing all radars to obtain a radar number Num for executing the task i i And start execution Time of task i i ；
Step (2.2.1), setting three temporary variables: minCost i ，Num i And Time i Respectively recording the minimum integrated cost of the task i, the radar number for executing the task i and the starting execution time of the task i, and initializing MinCost i ＝∞，Num i ＝∞，Time i ＝∞，s ij ＝∞；MinCost i Means the current minimum composite cost;
step (2.2.2), selecting one from the airborne radar set RSetting the radar not traversed as j, and initializing the comprehensive Cost of the task i executed on the radar j ij = infinity, it is judged that the radar j is in the time interval [ r ∞ i ，d i ]Whether there is a continuous idle duration greater than or equal to the dwell time Δ t i If so, entering step (2.2.3), otherwise, entering step (2.2.1); r is i Refers to the earliest execution time at which task i can start execution; d i Means that task i obtains the completion ending time of completion;
step (2.2.3), if the radar j is in the time interval [ r ] i ，d i ]The time length of a plurality of continuous idle time in the memory is more than or equal to delta t i Is selected to be closest to the time instant r i Has a length of Δ t i Will start the actual execution time s of the execution of the task i on the radar j ij Is set to be closest to r i Has a length of Δ t i The starting time of the time period of (a);
step (2.2.4), calculating the actual completion time of the task i executed on the radar j, namely: s ij +Δt i ；
Step (2.2.5) if s ij +Δt i ＞e i Then the overall Cost of task i executing on radar j is Cost ij ＝D ij +E ij ＝w i ·(s ij +Δt i -e i )+σp ij Δt i ；e i Expressed as the expected completion time of task i; σ denotes the unit energy cost, p ij Expressed as the average power, w, required for radar j to perform task i i Refers to the unit delay cost of task i;
if s is ij +Δt i ≤e i Then the overall Cost of task i executing on radar j is Cost ij ＝E ij ＝σp ij Δt i (ii) a Then judging the comprehensive Cost ij Whether less than the loss cost λ of task i i If Cost is ij ＜λ i If so, the comprehensive Cost is judged ij Whether it is less than the current minimum composite Cost, if Cost ij ＜MinCost i If so, let MinCost i ＝Cost ij ，Num i ＝j，Time i ＝s ij If Cost is ij ≥MinCost i ；
If Cost ij ≥λ i Judging whether the current airborne radar set R has an airborne radar which is not traversed, if so, returning to the step (2.2.2), and if not, outputting Num i And Time i And ending the traversal;
step (2.3), judging Num i If the value is infinity, the task is not executed; if not, assign task i to Num i On the indicated radar, the radar performs this task, and the start execution time is:
and (2.4) repeating the step (2.2) and the step (2.3) until all tasks are distributed completely.
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Address after: 210000 Room 301, floor 3, building 75, zone B, entrepreneurship and innovation city, No. 15, Fengji Avenue, Yuhuatai District, Nanjing, Jiangsu Province Patentee after: Nanjing Thunderbolt Information Technology Co.,Ltd. Address before: 210000 Room 301, floor 3, building 75, zone B, entrepreneurship and innovation city, No. 15, Fengji Avenue, Yuhuatai District, Nanjing, Jiangsu Province Patentee before: NANJING LEADING INFORMATION TECHNOLOGY Co.,Ltd. |
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