CN115033025A - Track guarantee method based on situation cognition result - Google Patents
Track guarantee method based on situation cognition result Download PDFInfo
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Abstract
The invention discloses a track guarantee method based on situation cognition results, which adopts an ant colony algorithm, starts from the situation cognition results of confrontation, completes state deduction in the confrontation process, obtains real-time performance parameters, performs track guarantee design on an aircraft from 3 aspects of confrontation situation analysis, aircraft threat degree analysis and track generation, and ensures that the aircraft completes flight tasks on the premise of self safety guarantee. According to the method, the threat suffered by the aircraft in the confrontation is analyzed to obtain the threat capability model, the threat range and the threat value suffered by the aircraft are obtained, the generation of the flight path of the aircraft is realized according to the analysis result, and the lowest threat suffered by the aircraft flying according to the flight path is ensured.
Description
Technical Field
The invention belongs to the field of radar countermeasure, and particularly relates to a track guarantee method based on situation cognition results.
Background
With the rapid development of modern science and technology and information technology, the sudden increase of the countermeasure, the change and the process of the countermeasure situation are accelerated, and higher requirements are put forward on the timeliness and the flexibility of the countermeasure. The aircraft has the characteristics of high speed, strong penetration resistance, flexible and variable tactics and the like, and particularly, the appearance of the aircraft with a stealth function and the arrangement of powerful weapons make the aircraft become an outstanding chief role in modern countermeasures. However, due to the increasing comprehensiveness of modern countermeasures, various sophisticated devices emerge endlessly, and particularly, the continuous development of radar technology, so that the aircraft is increasingly threatened in the countermeasures. Therefore, how to guarantee the survival probability and the task execution efficiency of the aircraft in practical confrontation has become one of the major concerns of many researchers, and one of the more effective methods is the track guarantee design. The flight path guarantee design is that through information fusion, attribute information and confrontation related situation information of a flight plan about an aircraft can be fully utilized, and parameters such as a flight path, a flight course, a speed, an altitude and time of the aircraft are determined in advance or temporarily, so that a planning task is completed on the premise of guaranteeing the safety of the aircraft.
The track guarantee design of the aircraft is actually to obtain quantitative description of a flight track safety threshold value according to the calculation of the direction, the speed, the height, the position and the threat degree of the aircraft on a flight line, and convert the track design problem into a track optimization problem. Therefore, researchers at home and abroad propose corresponding algorithms, and the algorithms generally use a numerical solution algorithm with optimal path to obtain the optimal path by solving the most value of a correlation function of flight path. However, the algorithms have strict requirements on solving conditions, lack universality, lack dynamic analysis on the threats and have poor applicability.
Disclosure of Invention
The invention provides a track guarantee method based on a situation cognition result, which starts from an confrontation situation cognition result, takes an ant colony algorithm as a basis, and performs track guarantee design on an aircraft from 3 aspects of confrontation situation analysis, aircraft threat degree analysis and track generation, thereby ensuring that the aircraft completes a flight task under the premise of self safety guarantee.
The technical solution for realizing the invention is as follows: a track guarantee method based on situation cognition results comprises the following steps:
step 1, constructing a confrontation situation analysis simulation platform, wherein the confrontation situation analysis simulation platform comprises a radar model, a communication model, an electronic interference model, an electronic reconnaissance model, an airplane/ship model, an environment model and a weapon equipment model, establishing confrontation relations among equipment models in the flight process of the aircraft through the radar model, the communication model, the electronic interference model, the electronic reconnaissance model, the airplane/ship model, the environment model and the weapon equipment model, and taking the confrontation relations as data sources for various calculations and evaluations in the subsequent track guarantee design, and turning to step 2.
And 3, carrying out simulation deduction on the countermeasure situation analysis simulation platform according to the countermeasure relation among the equipment models established in the step 1 and the situation simulation working time sequence generated in the step 2, carrying out networking radar detection distance evaluation on the aircraft based on simulation situation cognition, determining the probability of the aircraft discovered by radar, obtaining a radar threat value, and turning to a step 4.
And 4, calculating the comprehensive threat degree of the aircraft for each grid point of the confrontation space to obtain the comprehensive threat degree value of each grid point, and turning to the step 5.
And 5, carrying out optimal track solution according to the comprehensive threat values of the grid points to realize track planning:
and during the course planning, deduction is carried out according to the confrontation scene, the influence range and the threat degree aiming at the aircraft threat in the deduction are obtained, the mutual influence of the course route and the threat is comprehensively considered, and a safe course is formed.
Compared with the prior art, the invention has the remarkable advantages that: aiming at the problem of flight path guarantee of an aircraft in modern confrontation, the flight path guarantee design method adopts an ant colony algorithm and utilizes a situation cognition result to plan the flight path. The track guarantee design method based on the situation cognition result takes the threat of radar equipment to an aircraft in the countermeasure as a reference factor, divides the countermeasure space by grids, carries out real-time deduction analysis aiming at the threat in the countermeasure, integrates and calculates the comprehensive threat of each grid point, takes the threat range and the threat value of each grid point as reference quantities, introduces an pheromone function to be fully considered, and obtains the solution of the optimal flight track. Under the existing condition, the optimal air route design with safety guarantee can be effectively realized.
Drawings
FIG. 1 is a flow chart of the operation of the confrontational situation simulation platform of the present invention.
Fig. 2 is a schematic diagram of a space-based networking radar transceiving split cooperative detection method of the present invention.
FIG. 3 is a flow chart of an aircraft track assurance design based on an ant colony algorithm.
FIG. 4 is an optimal flight path diagram for an aircraft path assurance design.
FIG. 5 is a flow chart of the track support method based on situational awareness results according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without inventive step, are within the scope of the present invention.
The following further introduces specific embodiments, technical difficulties and inventions of the present invention with reference to the design examples.
With reference to fig. 1 to 5, the situation cognition result-based track guarantee method provided by the invention comprises the following steps:
step 1, constructing a confrontation situation analysis simulation platform. The adversity analysis is the basis of the flight path guarantee design of the aircraft and aims to carry out adversity deduction and simulation evaluation. The confrontation situation analysis simulation platform adopts equipment models including a radar model, a communication model, an electronic interference model, an electronic reconnaissance model, an airplane/ship model, an environment model and a weapon equipment model according to simulation parameters, establishes confrontation relations among equipment in the flight process of the aircraft through the models, and is used as a data source for calculating and evaluating various items in subsequent track guarantee design, and the reliability, completeness and effectiveness of the subsequent design are determined by the accuracy of analysis.
The confrontation situation simulation is used as a complex, in order to ensure the comprehensive and accurate analysis of the threat degree of the aircraft, radar, communication, electronic interference, electronic reconnaissance, airplane/ship, environment and weapon equipment models are applied, and almost all the elements for constructing the confrontation simulation are included. In situation simulation, the requirements for the simulation model are multi-directional, including functionality, flexibility, and realism.
Functionality: the simulation model adopts a model form adapted to different simulation deduction schemes or strategies and applies different simulation time step length and coarse/fine granularity simulation functions.
Flexibility: the simulation model automatically matches the in-model simulation processing flow and algorithm according to the requirements of dynamic deduction, adopts the simulation functions of different deduction types of the same equipment model, and realizes flexible and configurable situation simulation.
Authenticity: the simulation model comprehensively considers the actual confrontation condition, the simulation calculation conforms to the actual equipment processing flow, and the situation result is described in a quantitative mode.
And 2, establishing a time sequence simulation module according to the control parameters of the simulation platform, generating a situation simulation working time sequence, and keeping the situation simulation working time sequence consistent with the actual situation. And providing various trigger and synchronous signals for each model in the simulation platform, and providing the time sequence and control signals of each model in the signal processing. The specific functions and procedures are as follows:
step 2-1), the time sequence simulation module communicates with each model in the confrontation situation analysis simulation platform, sends the current simulation time, and then the step 2-2) is carried out;
step 2-2), judging whether the model receives the simulation time, if the model receives the simulation time, returning to the state of the model, starting to execute the operation of the current simulation time, and turning to the step 2-3); if the model does not receive the simulation time of the time sequence simulation module, the model stops working;
and 2-3) judging whether the time sequence simulation module receives the return state of a certain model, if not, waiting, and if the time sequence simulation module still does not receive the return state of the certain model, and if the time length of the waiting exceeds the set waiting time length, still not receiving the state information, considering that the model has a fault, reporting, issuing a simulation closing command, and forcibly terminating the simulation operation.
The counter situation simulation processing flow is shown in fig. 1 according to various requirements of simulation.
And 3, carrying out simulation deduction on the countermeasure situation analysis simulation platform according to the countermeasure relation among the equipment models established in the step 1 and the situation simulation working time sequence generated in the step 2, and carrying out networking radar detection distance evaluation on the aircraft based on simulation situation cognition. In the countermeasure, if the survival probability of the aircraft is improved, the most effective measure is to reduce the probability of the aircraft being discovered. As an apparatus for effectively detecting a target, radar is widely used in countermeasures. Even under a complex countermeasure environment, the modern radar can also rapidly and accurately detect and track a target, so that the safety of an aircraft is seriously influenced, and the threat of the aircraft flight is the main threat of the aircraft, so the situation-cognition-based aircraft threat assessment mainly takes the radar threat as the main threat. The radar threats can be divided into fixed position radar threats and maneuvering radar threats according to radar states, wherein the fixed position radar has small variation of parameters such as position and environment, the detection capability and range are usually kept unchanged, and therefore the threat degree is relatively definite. The maneuvering radar, especially the space-based radar, has strong maneuvering capability, and often utilizes a transceiving split-location mode to cooperatively detect, so that the threat to the detection of the aircraft is greatly increased, and key analysis is needed.
The space-based networking radar mainly utilizes the theory that the appearance and the flight attitude of an aircraft influence the scattering cross section area of the radar, and receives signals through a plurality of radars, so that the probability of finding a target is improved. Theoretical research and experiments show that when electromagnetic waves irradiate different parts of an aircraft, such as the forward direction, the lateral direction and the backward direction, the radar scattering sectional areas corresponding to the aircraft can generate differences, radar signals reflected by different parts can be obtained by utilizing a multi-radar cooperative detection mode, so that the influence caused by the fact that the radar scattering sectional areas of the aircraft can change along with the difference of appearance and flight attitude is avoided, and a space-based networking radar receiving and transmitting split cooperative detection mode is provided in fig. 2. The scattering characteristic of the air-based networking radar can be calculated by the included angle between the flight attitude angle of the aircraft and the antennas for transmitting and receiving the radar, and at the moment, the equation of the double-base networking radar can be expressed as follows:
in the formula (I), the compound is shown in the specification,G 1 in order to transmit the gain of the radar antenna,G 2 in order to receive the gain of the radar antenna,
is the wavelength of the radar signal and,
is the radar cross-sectional area of the aircraft,SNR min in order to minimize the signal-to-noise ratio of the detectable signal,R 1 the distance from the aircraft to the transmitting radar,R 2 for the distance between the aircraft and the receiving radar, the following requirements are met:
-R 12 ≤ R 1 -R 2 ≤ R 12 ，R 1 -R 2 ≥ R 12 (2)
in the formula (I), the compound is shown in the specification,R 12 is the distance between the transmitting radar and the receiving radar. When the networking radar adoptsAHair-growing deviceBIn the receiving mode, the distance is detectedR d Can be expressed as:
in the formula (I), the compound is shown in the specification,R dn is as followsnThe detection distance of the radar when the radar works alone,Awhich represents the number of radar transmissions that are transmitted,Bindicating the number of received radars.
And 4, calculating the comprehensive threat degree of the aircraft aiming at each grid point of the confrontation space. The design of the flight path guarantee of the aircraft is to plan the optimal flight path of the flight on the basis of comprehensively considering the performance and the threat degree of the aircraft, so that the aircraft can safely complete task execution, and therefore the threat degree distribution in the space needs to be evaluated and calculated.
4-1) spatially meshing the confrontation space.
4-2) calculating corresponding radar threat degrees at the grid points to obtain radar threat degree values of all the grid points, wherein the expression is as follows:
in the formula (I), the compound is shown in the specification,
is as followsiA first grid pointnThe threat value of the radar is calculated,
、
、
、
、
respectively, distance, speed, azimuth, speed variation, azimuth variation corresponding to the weighted value of the threat degree,R dnmax is as followsnThe maximum detection range of the partial radar,R dnmin is as followsnThe minimum detection distance of the radar,R i is as followsiFrom one grid point to the secondnThe distance between the partial radar and the radar,
v ni for aircraft in the first placeiAt one grid point withnThe difference in speed between the partial radars,
v max the maximum value of the speed difference is obtained,
a vni for aircraft in the first placeiAt one grid point withnThe difference in the speed change between the partial radars,
a vmax the maximum value of the speed variation difference is,
for aircraft in the first placeiAt one grid point withnThe azimuth difference between the partial radars,
is the maximum value of the azimuth difference,
for aircraft in the first placeiAt one grid point withnThe difference in the azimuth change between the radar units,
is the maximum azimuth variation difference.
4-3) calculating the corresponding comprehensive threat degrees of all grid points according to the situation deduction to obtain the comprehensive threat degree value of each grid point, wherein the expression is as follows:
in the formula (I), the compound is shown in the specification,
is as followsiThe integrated threat value for each grid point,
is obtained according to radar detection capabilitynIn part, a weighted value of the radar threat level,Nis as followsiThe number of threatened radars for each grid point.
And 5, planning a flight path by using the comprehensive threat values of the grid points obtained in the step 4. When the flight path planning is carried out, the algorithm deduces according to the confrontation scene, obtains the influence range and the threat degree aiming at the aircraft threat in the deduction, comprehensively considers the mutual influence of the flight path and the threat, and forms a safe flight path. Because the threats of the aircrafts in the countermeasure are various, various threats can be mutually superposed, and the flight path planning analysis is relatively complex, the method adopts the ant colony algorithm to solve the optimal flight path.
The ant colony algorithm is a method for solving the optimization problem by utilizing the optimizing capability of the ant colony in the process of searching food sources, has parallelism and random searching property, and can obtain the optimal solution through the colony evolution process. For the problem of flight path guarantee planning, the method adopts the comprehensive threat degree value of each grid point obtained in the step 4 as the data basis of the ant colony algorithm. Generating initial pheromones according to the comprehensive threat degree of the aircraft flying through a flight planning track in sequence:
in the formula (I), the compound is shown in the specification,w i planning a flight path for a flight in an initial population to pass throughiThe probability of a single grid point,Ein order to be a fixed constant, the number of the first and second electrodes,
is the pheromone constant.
Subsequently, transition probabilities are generated using the pheromonesq i ：
In the formula (I), the compound is shown in the specification,
is as followsiThe number of grid point pheromones is,Mis the number of pheromones.
Selecting the next node according to the transition probability, recording the accessed nodes, completing the access of all nodes, calculating the threat degree of the current flight path planning scheme, and then modifying the pheromone strength of the planned flight path passing through the grid points according to the pheromone updating equation (8)
：
In the formula (I), the compound is shown in the specification,
in order to be the attenuation coefficient of the pheromone,
denotes the firstiIntensity of pheromone at each grid point.
And finally, repeatedly carrying out iterative computation, and outputting an optimal solution to obtain an optimal flight planning track. The aircraft track guarantee design flow based on the ant colony algorithm is shown in fig. 3.
Claims (6)
1. A track guarantee method based on situation cognition results is characterized by comprising the following steps:
step 1, constructing a confrontation situation analysis simulation platform, wherein the confrontation situation analysis simulation platform comprises a radar model, a communication model, an electronic interference model, an electronic reconnaissance model, an airplane/ship model, an environment model and a weapon equipment model, establishing confrontation relations among equipment models in the flight process of an aircraft through the radar model, the communication model, the electronic interference model, the electronic reconnaissance model, the airplane/ship model, the environment model and the weapon equipment model, and taking the confrontation relations as data sources for various calculations and evaluations in subsequent track guarantee design, and turning to step 2;
step 2, establishing a time sequence simulation module according to control parameters of the confrontation situation analysis simulation platform, generating a situation simulation working time sequence, keeping the situation simulation working time sequence consistent with the actual situation, providing various triggering and synchronizing signals for each model in the simulation platform, providing the time sequence and the control signals of each model in the signal processing, and turning to step 3;
step 3, the confrontation situation analysis simulation platform carries out simulation deduction according to the confrontation relation among the equipment models established in the step 1 and the situation simulation working time sequence generated in the step 2, carries out networking radar detection distance evaluation on the aircraft based on simulation situation cognition, determines the probability of the aircraft discovered by the radar, obtains a radar threat value, and then goes to the step 4;
step 4, calculating the comprehensive threat degree of the aircraft for each grid point of the countermeasure space to obtain the comprehensive threat degree value of each grid point, and turning to step 5;
and 5, carrying out optimal track solution according to the comprehensive threat values of the grid points to realize track planning:
and during the course planning, deduction is carried out according to the confrontation scene, the influence range and the threat degree aiming at the aircraft threat in the deduction are obtained, the mutual influence of the course route and the threat is comprehensively considered, and a safe course is formed.
2. The situation awareness result-based track support method according to claim 1, wherein: in step 2, according to the control parameters of the simulation platform, a timing sequence simulation module is established, a situation simulation working timing sequence is generated and is consistent with the actual situation, various trigger and synchronous signals are provided for each model in the simulation platform, and the timing sequence and the control signal which each model belongs to are provided for the interior of signal processing, which specifically comprises the following steps:
step 2-1), the time sequence simulation module is communicated with each model in the confrontation situation analysis simulation platform, the current simulation time is sent, and the step 2-2) is carried out;
step 2-2), judging whether the model receives the simulation time, if the model receives the simulation time, returning to the state of the model, starting to execute the operation of the current simulation time, and turning to the step 2-3); if the model does not receive the simulation time of the time sequence simulation module, the model stops working;
and 2-3) judging whether the time sequence simulation module receives the return state of a certain model, if not, waiting, and if not, determining that the model has a fault and reports the fault, issuing a simulation closing command, and forcibly terminating the simulation operation after the set waiting time duration is exceeded and the state information is not received.
3. The situation awareness result-based track support method according to claim 1, wherein: in step 3, when the bistatic networking radar is adopted, the bistatic networking radar equation is expressed as follows:
in the formula (I), the compound is shown in the specification,G 1 in order to transmit the gain of the radar antenna,G 2 in order to receive the gain of the radar antenna,
in order to be the wavelength of the radar signal,
is the radar cross-sectional area of the aircraft,SNR min in order to minimize the signal-to-noise ratio of the detectable signal,R 1 the distance from the aircraft to the transmitting radar,R 2 for the distance between the aircraft and the receiving radar, the following requirements are met:
-R 12 ≤ R 1 -R 2 ≤ R 12 and isR 1 -R 2 ≥ R 12
In the formula (I), the compound is shown in the specification,R 12 for transmitting and receiving the distance between the radars, when networking radars are usedAHair-like deviceBIn the receiving mode, the distance is detectedR d Expressed as:
in the formula (I), the compound is shown in the specification,R dn is a firstnThe detection distance of the radar when the radar works alone,Awhich represents the number of radar transmissions that are transmitted,Bindicating the number of received radars.
4. The situation awareness result-based track support method according to claim 3, wherein: in step 4, calculating the comprehensive threat degree of the aircraft for each grid point of the countermeasure space to obtain the comprehensive threat degree value of each grid point, specifically as follows:
4-1) carrying out space gridding division on the confrontation space;
4-2) calculating corresponding radar threat degrees at each grid point to obtain radar threat degree values of each grid point, wherein the expression is as follows:
in the formula (I), the compound is shown in the specification,
is as followsiA grid pointFirst, thenThe threat value of the radar is determined,
、
、
、
、
respectively, distance, speed, azimuth, speed variation, azimuth variation corresponding to the weighted value of the threat degree,R dnmax is as followsnThe maximum detection range of the partial radar,R dnmin is as followsnThe minimum detection range of the partial radar,R i is as followsiFrom one grid point to the secondnThe distance between the partial radar and the radar,
v ni for aircraft in the first placeiAt one grid point and the secondnThe difference in speed between the partial radars,
v max the maximum value of the speed difference is obtained,
a vni for aircraft in the first placeiAt one grid point withnThe difference in the speed change between the partial radars,
a vmax the maximum value of the speed variation difference is,
for aircraft in the first placeiAt one grid point withnThe azimuth difference between the partial radars,
is the maximum value of the azimuth difference,
for aircraft in the first placeiAt one grid point withnThe difference in the azimuth change between the partial radars,
is the maximum value of the azimuth variation difference;
4-3) calculating the corresponding comprehensive threat degrees of all grid points according to the situation deduction to obtain the comprehensive threat degree value of each grid point, wherein the expression is as follows:
in the formula (I), the compound is shown in the specification,
is a firstiThe integrated threat value for each grid point,
is obtained according to radar detection capabilitynIn part, a weighted value of the radar threat level,Nis a firstiThe number of threatened radars for each grid point.
5. The situation awareness result-based track support method according to claim 4, wherein: and 5, adopting an ant colony algorithm when solving the optimal flight path.
6. The situation awareness result-based track support method according to claim 5, wherein: in step 5, performing optimal track solving by adopting an ant colony algorithm, specifically as follows:
and the comprehensive threat degree value of each grid point is used as a data basis of the ant colony algorithm, and initial pheromones are generated according to the comprehensive threat degree suffered by the aircraft flying through a flight planning track in sequence:
in the formula (I), the compound is shown in the specification,w i planning a flight path for a flight in an initial population to pass throughiThe possibility of a single grid point,Ein order to be a fixed constant, the number of the first and second electrodes,
is the pheromone constant;
subsequently, transition probabilities are generated using the pheromones
：
In the formula (I), the compound is shown in the specification,
is as followsiThe number of grid point information elements is,Mis the number of pheromones;
selecting the next node according to the transition probability, recording the accessed nodes, completing the access of all the nodes, calculating the threat degree of the current flight path planning scheme, and then modifying the pheromone intensity of the planned flight path passing through the grid points according to the pheromone updating method (8)
：
In the formula (I), the compound is shown in the specification,
in order to be the attenuation coefficient of the pheromone,
is shown asiPheromone intensities for individual grid points;
and finally, repeatedly carrying out iterative computation and outputting an optimal solution, namely an optimal track.
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