CN114969621A - Underwater missile launching time sequence rapid determination method based on disturbance greedy algorithm - Google Patents
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Abstract
An underwater missile launching time sequence rapid determination method based on a disturbance greedy algorithm belongs to the field of time sequence planning. The method aims to solve the problem that the launching effect is influenced due to the fact that disturbance factors are not considered in the existing underwater missile launching time sequence determining method. According to the invention, the time intervals of all alternative bombs under the Kth bomb are calculated according to the influence function and the given influence limit, and the launching scheme of the bomb is selected according to the time interval of the previous bomb and the disturbance strategy; in the disturbance strategy, when K is a middle bomb, if the time interval of the first two bombs is less than the lower critical time interval, a downstream launching scheme is randomly selected; if the time interval between the first two missions is larger than the upper critical time interval, randomly selecting an upstream launching scheme; otherwise, determining the position and the launching time of each bomb one by one to obtain a launching position and a time sequence; the influence function is the influence of the distance between the wake vortex and the K-th bomb after the front K-1 bomb is launched on the K-th bomb. The method is mainly used for quickly determining the launching time sequence of the underwater missile.
Description
Technical Field
The invention relates to a method for determining the launching time sequence of an underwater missile, and belongs to the field of time sequence planning.
Background
The territory sea is the first line of defense of the country, the territory sea safety can effectively reduce the threat to important strategic facilities, the strength of the maritime military strength determines the attack and defense situation in the war, the maritime military strength is vigorously developed, the territory sea resource development of the country can be guaranteed, the driving and the navigation can be guaranteed for long-term security of the country, and the strategic significance is not neglected.
In the military countermeasure at sea, no matter in the operation mode of sea to sea, or sea to land, sea to air, the submarine plays an irreplaceable role due to the concealment, so that various countries develop underwater submarine launching technology in vigorous customs attack. However, with the continuous development of the reverse guidance technology, the missile interception efficiency is continuously improved, the single-form missile attack is difficult to reach the established combat target, and the target object is difficult to be effectively damaged. Saturated attacks are being paid attention and promoted in various countries as an effective means for improving missile penetration resistance, namely, intensive attacks exceeding the anti-guiding capacity of targets are being carried out. Meanwhile, after a bullet is shot, the underwater launching device can expose the position immediately, so that the flush shooting must be completed in the shortest time under the condition of ensuring safe launching. As a big country of maritime military, the attack on the underwater synchrotron radiation time sequence planning technology is slow.
At present, the main means for carrying out underwater launching time sequence planning research is to adopt various sequencing algorithms and other general algorithms, and an algorithm which gives consideration to both efficiency and accuracy aiming at the underwater launching condition is rare. Aiming at the problem, the invention aims to realize the rapid planning of the launching time sequence during underwater simultaneous launching and is used for finishing the planning research of launching the shortest time sequence under the requirement of a specified influence function.
Disclosure of Invention
The method aims to solve the problem that the launching effect is influenced because disturbance factors are not considered in the existing method for determining the launching time sequence of the underwater missile.
An underwater missile launching time sequence rapid determination method based on a disturbance greedy algorithm comprises the following steps:
s1, setting the iteration times to be 1 and recording the iteration times i to be 1;
s2, randomly determining a launching scheme of the first shot in the alternative shots, wherein the launching scheme comprises the position and the time of the first shot;
s3, selecting the K bullet:
respectively calculating the time intervals delta t of all the alternative bombs under the Kth bomb according to the influence function and the given influence limit, sequencing the alternative bombs according to the time interval, selecting the launching scheme of the bomb according to the time interval of the previous bomb and the disturbance strategy, and recording the launching position and time;
the influence function is the distance D between the wake vortex and the K-th projectile after the front K-1 projectile is launched 1 ,D 2 ...D K-1 Impact on the kth shot;
the given influence limit is a threshold value of a given influence function, namely, a corresponding influence function value under a Kth bullet needs to be less than or equal to the given influence limit;
the interference strategy for the kth shot is as follows:
(1) k is the scheme with the minimum transmitting time interval when the last bomb is shot;
(2) when K is the second shot, two schemes of the shooting interval are randomly selected;
(3) when the K is the middle bullet, the elastic core is formed,
if the time interval between the first two missions is less than the lower critical time interval alpha, randomly selecting a downstream launching scheme; defining the advancing direction of the submarine as the downstream, and regarding the position of the K-1 st projectile, taking the direction corresponding to the advancing direction of the submarine as the upstream and downstream of the K-1 st projectile; randomly selecting a launching scheme at the downstream of the K-1 th projectile, namely selecting the K-th projectile in the downstream direction of the K-1 th projectile;
if the time interval between the first two missions is larger than the upper critical time interval beta, randomly selecting an upstream launching scheme;
otherwise, determining the position and the launching time of each bomb one by one to obtain a launching position and a time sequence;
s4, if the transmitting task is not completed, K is K +1 and the process returns to S3 to continue circulation; if the launching task is completely finished, recording the launching time of the last projectile at the moment, comparing the launching time with the launching time recorded before, if the launching time of the last projectile at the moment is less than the launching time of the last projectile recorded before, recording the launching scheme at the moment and covering the record before, otherwise, not operating, wherein the launching scheme comprises the launching time, the launching position and the total launching duration of each projectile;
s5, after the iteration is finished, comparing the iteration number with the maximum iteration number, if the iteration number is less than or equal to the maximum iteration number, enabling i to be i +1, and returning to S2 to enter a new iteration loop; if the number of iterations is larger than the maximum number of iterations, the recorded launching scheme of the minimum total launching duration, namely the launching position and the launching time of each bullet, is returned, and the launching scheme is given out after the circulation is finished.
Further, the upper critical time interval β is twice the lower critical time interval α.
Further, a lower critical time interval
Wherein, deltaS is the center distance of the launching large cylinder, and v is the boat speed.
Further, the impact function is as follows:
S＝f(D 1 ,D 2 ...D K-1 ) (1)
D＝v×Δt+Δd (2)
wherein D corresponds to D 1 ,D 2 ...D K-1 ，D 1 ,D 2 ...D K-1 The distance between the wake vortex and the K-th projectile after the front K-1 projectile is launched is defined, v is the boat speed, delta t is the launching interval, and delta d is the center distance between the launching cylinders of the front and rear projectiles.
Further, S ═ f (D) 1 ,D 2 ...D K-1 ) Passing through the spaceD K-1 Influence of (D) K-2 … …, D 1 The influence of (2) is determined in superposition.
Further, the functional relationship between S and D is obtained by actual simulation or fitting test results.
Further, when the firing scheme of the first shot is randomly determined among the alternative shots in S2, the firing time of the first shot is recorded as time 0.
A computer storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to realize a rapid underwater missile launching time sequence determination method based on a disturbance greedy algorithm.
The device comprises a processor and a memory, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize the method for quickly determining the underwater missile launching time sequence based on the disturbance greedy algorithm.
Has the advantages that:
the invention solves the difficulty of determining the launching time sequence of the underwater missile under multiple launches by utilizing a greedy algorithm, and can quickly provide the launching time sequence and the launching position sequence; for the problem of local convergence of a greedy algorithm, disturbance is added when each missile launching determines a launching scheme to obtain a solution close to global optimum, an underwater missile launching time sequence meeting the requirement of combat launching safety can be given quickly in a short time, and the requirement of rapid response of combat in wartime is met while certain precision is maintained.
Drawings
FIG. 1 is a schematic flow diagram of a greedy algorithm with perturbation;
fig. 2 is a schematic diagram of a projectile body layout.
Detailed Description
The first embodiment is as follows: the present embodiment is described in connection with figure 1,
the method for quickly determining the launching time sequence of the underwater missile based on the disturbed greedy algorithm comprises the following steps:
1. the number of iterations is set to 1 and the number of iterations i is recorded as 1.
2. And randomly determining a launching scheme of the first projectile in the alternative projectiles, wherein the launching scheme comprises the position and the moment of the first projectile, and recording the launching moment of the first projectile as 0 moment.
3. And K, shot selection: respectively calculating the time intervals delta t of all the alternative bombs under the Kth bomb according to a given influence function and a given influence limit, sequencing the alternative bombs according to the time interval size, selecting the launching scheme of the bomb according to the time interval of the previous bomb (the Kth-1 bomb) and a disturbance strategy, and recording the launching position and the moment. The influence function represents the influence of the underwater launched missile on other missiles to be launched, the influence is limited to safe launching, namely launching can be carried out when the calculated influence of launching is smaller than the influence limit during missile launching, namely, the influence limit is met during selection. The impact formula is determined as follows:
S＝f(D 1 ,D 2 ...D K-1 ) (1)
D＝v×Δt+Δd (2)
wherein S is an influencing factor, D 1 ,D 2 ...D K-1 The distance between the wake vortex and the K-th projectile after the front K-1 projectile is launched, v is the boat speed, delta t is the launching interval, and delta d is the launching tube center distance of the front and rear projectiles. The functional relation between S and D is obtained by actual simulation or test result fitting.
S＝f(D 1 ,D 2 ...D K-1 ) Shows the distance D between the trailing vortex and the K-th projectile after the front K-1 projectile is launched 1 ,D 2 ...D K-1 The impact on the K-th projectile, which can actually pass through the distance D K-1 Influence of (D) K-2 … …, D 1 The influence of (2) is determined in superposition. For the current shot to be shot, i.e. the K-th shot, due to the front D K-2 … …, D 1 The influence of (a) is only a function of Δ t, and at this time, a Δ t can be determined according to the influence limit, and then sorting can be performed through the Δ t;
4. if the transmission task is not completed, K is K +1 and the step 3 is returned to continue circulation; if the launching task is completely finished, recording the launching time of the last projectile at the moment, comparing the launching time with the launching time recorded before (namely, comparing the launching time of the last projectile corresponding to the completion of the current task with the launching time of the last projectile corresponding to the completion of the previous task), if the launching time of the last projectile at the moment is less than the launching time of the last projectile recorded before, recording the launching scheme at the moment and covering the previous record, otherwise, not operating, wherein the launching scheme comprises the launching time, the position and the total launching duration of each projectile.
5. After iteration is finished, comparing the iteration number with the maximum iteration number, if the iteration number is less than or equal to the maximum iteration number, enabling i to be i +1, and returning to the step 2 to enter a new iteration loop; if the number of iterations is larger than the maximum number of iterations, the recorded launching scheme of the minimum total launching duration, namely the launching position and the launching time of each bullet, is returned, and the launching scheme is given out after the circulation is finished.
In the embodiment, the iteration times are preset to be 100 (the iteration times can be determined according to actual emergency situations in combat, and the transmission time sequence can be quickly obtained by adopting smaller iteration times in case of emergency in combat), so that an optimal total transmission scheme is obtained.
The core idea of the invention is to increase disturbance factors in the algorithm aiming at the problem that a greedy algorithm can be trapped in a local optimal solution, which mainly shows that the probability of accepting a launching scheme which is not the optimal solution at the moment is given, and different acceptance probabilities are given to bombs in different positions aiming at the actual flow field characteristics, so as to form an interference strategy. The interference strategy mainly acts on all possible alternative missiles of the K-th missile, namely all missiles which can be launched at the moment, and the launching time interval delta t of each alternative missile is calculated by the formulas (1) and (2) according to the influence limit after the launching of the front K-1 missile, so that alternative schemes of all the alternative missiles are obtained. The interference strategy of the K-th bomb is as follows:
(1) and selecting the scheme with the least emission time interval by the last (K ═ end) shot.
(2) The second round (K ═ 2) randomly chooses two schemes for the transmission interval, and since the kth round has been previously sorted by Δ t, it is only necessary to select the two schemes with the smallest Δ t.
(3) And when K is the middle bomb (2< K < end), if the time interval of the first two bombs is less than 0.1 (the lower critical time interval alpha can be calculated by dividing the interval of the launch cylinders in the boat speed direction by the boat speed, the calculation formula is formula (3)), randomly selecting the launching scheme at the downstream of the K-1 bomb.
Defining the advancing direction of the submarine as the downstream, and regarding the position of the K-1 st projectile, taking the direction corresponding to the advancing direction of the submarine as the upstream and downstream of the K-1 st projectile; and randomly selecting a launching scheme downstream of the K-1 th projectile, namely selecting the K-th projectile in the downstream direction of the K-1 th projectile. Research analysis and experiments show that when the time interval between the two shots is less than 0.1, the time interval is small, and the selection of the subsequent shots in the downstream is favorable for the selection of the more subsequent shots, and the overall optimization is favorable.
If the first two firing intervals of the middle shot are >0.2 (upper critical interval β, twice lower critical interval), the upstream firing scheme is chosen randomly.
Otherwise; and determining the position and the launching moment of each bomb one by one to obtain a launching position and a time sequence. Since the kth shot has been previously sorted by Δ t, the shot position and time sequence have been determined.
Preferably, the specific determination formula of the lower critical time interval α and the upper critical time interval β is as follows:
β＝2α
wherein, deltaS is the center distance of the launching large cylinder, and v is the boat speed.
The traditional greedy algorithm is to select a secondary projectile with the minimum time interval away from the former projectile for launching after the former projectile launches, and the algorithm is improved by combining the analysis of the tail flow field of the first underwater projectile for launching, so that the method is suitable for the rapid launching scene of an underwater vehicle.
Examples
For verifying the invention, assume that the layout of the projectile body is as shown in fig. 2, which schematically shows four large launching barrels, wherein 7 large launching barrels are arranged in each large launching barrel, each large launching barrel corresponds to one projectile position, and 1-26 represent the number of each projectile position; where a represents the left hand position and B represents the right hand position, A, B may correspond to different missile types.
The invention and the uniform sampling algorithm are respectively used for carrying out emission sequence arrangement according to the combat requirement (A-B-A-A-A-B-B-B), and the emission time length required by sequential emission (unoptimized) is used as a contrast. The duration of the decrease in the relative sequential emission of each method was taken as the evaluation optimization effect, as shown in tables 1 and 2.
TABLE 1
TABLE 2
The launching sequence obtained according to uniform sampling or greedy algorithm can be determined, and under the condition of the launching layout, the influence of the first-shot wake vortex can be reduced, and the time interval required by safe launching can be shortened. Compared with the calculation efficiency, the calculation time of the uniform sampling method is obviously increased along with the increase of the samples, the optimization effect is not obviously increased, the effect reaches 45.38% when the 10% sample size is optimized, and on the premise of ensuring the optimization effect, the calculation time is greatly reduced, so that the method is more suitable for the battlefield environment with ten thousand changes in sequence.
The second embodiment is as follows:
the embodiment is a storage medium, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to realize the rapid determination method for the underwater missile launching time sequence based on the perturbed greedy algorithm.
It should be understood that any method described herein, including any methods described herein, may correspondingly be provided as a computer program product, software, or computerized method, which may include a non-transitory machine-readable medium having stored thereon instructions, which may be used to program a computer system, or other electronic device, to perform a process. Storage media may include, but is not limited to, magnetic storage media, optical storage media; a magneto-optical storage medium comprising: read-only memory ROM, random access memory RAM, erasable programmable memory (e.g., EPROM and EEPROM), and flash memory layers; or other type of media suitable for storing electronic instructions.
The third concrete implementation mode:
the device comprises a processor and a memory, and can be understood to include any device comprising the processor and the memory described in the invention, and the device can also comprise other units and modules which perform display, interaction, processing, control and other functions through signals or instructions;
at least one instruction is stored in the memory and loaded and executed by the processor to realize the rapid underwater missile launching time sequence determination method based on the disturbance greedy algorithm.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.
Claims (9)
1. An underwater missile launching time sequence rapid determination method based on a disturbance greedy algorithm is characterized by comprising the following steps:
s1, setting the iteration number to be 1 and recording the iteration number i to be 1;
s2, randomly determining a launching scheme of the first shot in the alternative shots, wherein the launching scheme comprises the position and the time of the first shot;
s3, selecting the K bullet:
respectively calculating the time intervals delta t of all the alternative bombs under the Kth bomb according to the influence function and the given influence limit, sequencing the alternative bombs according to the time interval, selecting the launching scheme of the bomb according to the time interval of the previous bomb and the disturbance strategy, and recording the launching position and time;
the influence function is the distance D between the wake vortex and the K-th projectile after the front K-1 projectile is launched 1 ,D 2 ...D K-1 Impact on the kth shot;
the given influence limit is a threshold value of a given influence function, namely, a corresponding influence function value under a Kth bullet needs to be less than or equal to the given influence limit;
the interference strategy for the kth shot is as follows:
(1) k is the scheme with the minimum transmitting time interval when the last bomb is shot;
(2) when K is a second shot, two schemes of the launching interval are randomly selected;
(3) when the K is the middle bullet, the elastic core is formed,
if the time interval between the first two missions is less than the lower critical time interval alpha, randomly selecting a downstream launching scheme; defining the advancing direction of the submarine as the downstream, and regarding the position of the K-1 st projectile, taking the direction corresponding to the advancing direction of the submarine as the upstream and downstream of the K-1 st projectile; randomly selecting a launching scheme at the downstream of the K-1 th projectile, namely selecting the K-th projectile in the downstream direction of the K-1 th projectile;
if the time interval between the first two missions is larger than the upper critical time interval beta, randomly selecting an upstream launching scheme;
otherwise, determining the position and the launching time of each bomb one by one to obtain a launching position and a time sequence;
s4, if the transmission task is not completed, K is K +1 and the process returns to S3 to continue the circulation; if the launching task is completely finished, recording the launching time of the last projectile at the moment, comparing the launching time with the launching time recorded before, if the launching time of the last projectile at the moment is less than the launching time of the last projectile recorded before, recording the launching scheme at the moment and covering the record before, otherwise, not operating, wherein the launching scheme comprises the launching time, the launching position and the total launching duration of each projectile;
s5, after the iteration is finished, comparing the iteration number with the maximum iteration number, if the iteration number is less than or equal to the maximum iteration number, enabling i to be i +1, and returning to S2 to enter a new iteration loop; if the number of iterations is larger than the maximum number of iterations, the recorded launching scheme of the minimum total launching duration, namely the launching position and the launching time of each bullet, is returned, and the launching scheme is given out after the circulation is finished.
2. The method for rapidly determining the launching time sequence of the underwater missile based on the disturbed greedy algorithm according to the claim 1, wherein the upper critical time interval beta is twice as long as the lower critical time interval alpha.
3. The method for rapidly determining underwater missile launching time sequence based on disturbed greedy algorithm according to claim 2, characterized in that the lower critical time interval
Wherein, deltaS is the center distance of the launching large cylinder, and v is the boat speed.
4. The method for rapidly determining the launching time sequence of the underwater missile based on the disturbed greedy algorithm according to the claim 1, the method 2 or the method 3 is characterized in that the influence function is as follows:
S＝f(D 1 ,D 2 ...D K-1 ) (1)
D＝v×Δt+Δd (2)
wherein D corresponds to D 1 ,D 2 ...D K-1 ，D 1 ,D 2 ...D K-1 The distance between the wake vortex and the K-th projectile after the front K-1 projectile is launched, v is the boat speed, delta t is the launching interval, and delta d is the launching tube center distance of the front and rear projectiles.
5. The method for rapidly determining underwater missile launching time sequence based on the disturbed greedy algorithm according to claim 4, wherein S-f (D) 1 ,D 2 ...D K-1 ) Through the space D K-1 Influence of (D) K-2 … …, D 1 The influence of (2) is determined in superposition.
6. The method for rapidly determining the launching time sequence of the underwater missile based on the disturbed greedy algorithm according to claim 5, wherein the functional relation between S and D is obtained by actual simulation or fitting of a test result.
7. The method for rapidly determining the launching time sequence of the underwater missile based on the disturbed greedy algorithm is characterized in that in S2, when the launching scheme of the first missile is randomly determined in the alternative missiles, the launching time of the first missile is recorded as 0 time.
8. A computer storage medium having stored therein at least one instruction, the at least one instruction being loaded and executed by a processor to implement a method for rapid determination of underwater missile launch timing based on a greedy-of-disturbance algorithm according to any one of claims 1 to 7.
9. Device for rapidly determining the launching time sequence of an underwater missile based on a greedy-perturbation algorithm, characterized in that the device comprises a processor and a memory, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the method for rapidly determining the launching time sequence of an underwater missile based on a greedy-perturbation algorithm as claimed in one of claims 1 to 7.
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