CN115187147B - Multi-aircraft target cooperative attack method under condition of no data chain - Google Patents
Multi-aircraft target cooperative attack method under condition of no data chain Download PDFInfo
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Abstract
The invention discloses a multi-aircraft target cooperative attack method under a data-chain-free condition, belonging to the technical field of multi-aircraft cooperative combat; by constructing a position reference of each target in the real object feature point representation group targets, each attacking aircraft identifies the same target according to the position reference and establishes a rectangular coordinate system to obtain unique position description of each target, and multi-target distribution of multiple aircrafts is further realized; when each attacking aircraft takes the serial number as the priority and one sector area comprises a plurality of targets, determining the distribution condition of the targets according to the Euclidean distance between the targets and the original point and the angle between the targets and the central line of the sector area; the positioning and loading of the spreader completes construction of real object feature points and first-round attack, the attack loading completes subsequent attack, and each attack aircraft attacks according to planned strategies and information under the condition of no data chain communication, so that the dependence on communication conditions and main attack aircraft in the traditional distribution attack strategy is avoided.
Description
Technical Field
The invention relates to the technical field of multi-aircraft cooperative combat, in particular to a multi-aircraft target cooperative attack method under the condition of no data chain.
Background
At present, the research on the multi-aircraft cooperative attack mode at home and abroad mainly focuses on the multi-aircraft cooperative attack on the same target. The research content mainly comprises collaborative guidance laws including a time collaborative guidance law, an angle collaborative guidance law, a time/angle collaborative guidance law and the like; the cooperative algorithm comprises the steps of registering the target positions calculated by all aircrafts to data registration of the same time and the same coordinate system; and ensuring that the data correlation of the targets detected by the aircrafts and the same target and the accurate position data fusion of the targets fused with the calculation results of the aircrafts.
The research on multiple targets of multi-aircraft cooperative attack is not many, only a Russian P-700 granite pilot aircraft can be found, and the pilot aircraft adopts a high aircraft track mode and a low aircraft track mode and has autonomous formation attack and target selection and distribution capabilities. The method adopts a mode of a high-orbit leading aircraft and a low-orbit slave aircraft, and data chain communication is used between the leading aircraft and the slave aircraft. When the pilot aircraft of the flush injection flies to the tail section, the pilot aircraft is pre-programmed to fly on a higher aircraft channel, the target information is found at the earliest, the data is transmitted to the slave aircraft of a lower aircraft channel through a data link, and the data and the target distribution are updated in real time. And (4) carrying out attack after the supersonic sea-sweeping flight of the aircraft and the respective locking of targets. If the aircraft is intercepted halfway, one of the aircraft is selected to be lifted, and sequential successive compensation is realized.
This solution has several drawbacks: 1. under the battlefield environment with a more complex electromagnetic environment, the communication between the leading aircraft and the following aircraft is greatly interfered, and the normal communication is probably impossible in most of time, so that the reliability of task execution is difficult to ensure; 2. due to the existence of electromagnetic countermeasures of both sides of the battle, the possibility of decoding and tampering exists in the data communication between the aircraft and the slave aircraft, so that each attacking aircraft is controlled by the enemy, and invalid attack or self-destruction is caused; 3. because the leading aircraft is in a critical position in the task execution process, once a fault occurs, the task fails, a plurality of backups of leading aircraft must be equipped, or a certain number of secondary aircraft are reserved as standby leading aircraft, which not only increases the cost, but also greatly improves the complexity of the task execution process by the mechanisms of effectiveness judgment of the leading aircraft, switching of the leading aircraft and the like, and increases the possibility of task failure.
In order to make up for the defect of the aircraft in the aircraft + data chain mode, a control strategy for cooperatively attacking multiple targets by multiple aircraft under the condition of no data chain needs to be solved. Each attacking aircraft independently and randomly selects one target to attack on the basis of the coordination scheme for randomly selecting the targets, but due to different fields of view of the aircrafts, the random selection mode inevitably leads to repeated selection of the same target by a plurality of aircrafts, and the combat efficiency is reduced.
Disclosure of Invention
The invention aims to provide a multi-aircraft multi-target cooperative attack method based on physical characteristic points, which can effectively distinguish and accurately distribute group targets under the condition of no data link communication and improve the attack efficiency of attacking aircrafts.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-aircraft target cooperative attack method under a data-chain-free condition is characterized in that position references of targets in a real object feature point representation group target are extracted, and attack aircrafts determine a target set containing the same targets according to the position referencesS1, and then completing the distribution and attack of the group targets in the target area, specifically comprising the following steps:
step one, releasing a plurality of artificial beacons at the periphery of an area where a group target is located, and extracting the position structure characteristics of the area where the group target is located;
step two, after each attacking aircraft identifies the artificial beacon through an image detection means, carrying out statistical operation on the position information of the artificial beacon to obtain a physical feature point; target areas determined by all attacking aircrafts according to the real object feature points contain the same target setS1；
Step three, under the condition of no data link communication, each attacking aircraft respectively collects the targets identified according to the attacking aircraftS1 calculating the center of the outer envelope ellipse: (x 0 ，y 0 ) Determining the major axis and the minor axis of the outer envelope ellipse according to the visual field range of each attacking aircraft, and constructing the outer of the target area identified by each attacking aircraftEnveloping an ellipse;
center of outer envelope ellipse: (x 0 ，y 0 ) The long axis of the outer envelope ellipse is an X axis, the direction angle of the X axis is determined according to the position structure characteristics extracted in the step one, a rectangular coordinate system is established, the position information of each target is obtained, and the position information of the same target is unique and the same in different attacking aircrafts;
fourthly, each attacking aircraft uses the origin of the rectangular coordinate system established by the attacking aircraft as the center, divides the target area into a plurality of fan-shaped areas with the same angle size, and sets the corresponding relation between the fan-shaped areas and the attacking aircraft, wherein each fan-shaped area corresponds to one attacking aircraft and one fan-shaped area corresponds to a plurality of attacking aircraft;
when one sector area only contains one target, the target in the sector area is allocated to the corresponding attack aircraft; when one sector area comprises a plurality of targets, each attacking aircraft determines the target distribution condition according to the Euclidean distance between the target and the origin and the angle between the target and the central line of the sector area;
and step five, finishing the combat attack by each attacking aircraft according to the target distribution condition.
Preferably, the artificial beacon mentioned in the first step is released by a positioning aircraft, the positioning aircraft is arranged on a spreader loaded on an airplane, and one positioning aircraft comprises a plurality of artificial beacons;
the artificial beacon is a luminous object or an object with a certain shape or color; the light emitting time of the light emitting object can be continuously emitted until the attack task is finished.
Preferably, the loading mode of the spreader comprises positioning loading and attack loading; the distributor with the positioning filling comprises 1 positioning aircraft andJ-1 attacking aircraft; in the dispenser of the attack fillingJAll the aircrafts are attack aircrafts; wherein the content of the first and second substances,Jrepresenting the total number of aircraft in a dispenser,Jis an integer greater than 1.
Preferably, the spreader for positioning loading is used for launching an artificial beacon and attacking a target in the first round of attack, and the spreader for attacking loading is responsible for subsequent attacks.
Preferably, the statistical operation is performed on the position information of the artificial beacon in the second step to obtain a real object feature point, and the specific operation is as follows: and calculating an average value of the position information coordinates of the artificial beacons as coordinates of the real object feature points.
Preferably, the target areas determined by the attacking aircrafts according to the physical feature points in the step two include the same target setS1, specifically: different attacking aircrafts adjust the aiming directions thereof according to the position reference, have the same visual field range and aim at the same position reference, and recognize targets in rows according to the mode of downwards and upwards by taking the position reference as a starting point to obtain the same target setS1。
Preferably, said stepIIIThe center of the outer envelope ellipse mentioned in (1)x 0 ，y 0 ) Is a target setS1 at each target point: (u i ，v i ) Average value of (d); wherein (A) and (B)u i ，v i ) For each target point in the image coordinate system of each attacking aircraft itselfiThe coordinates of (a);
the direction angle of the X axis is an included angle between the X axis and a horizontal axis u axis of an image coordinate system of each attacking aircraft, and the determination mode of the direction angle of the X axis is as follows:
if the object feature point is determined by an artificial beacon, the direction angleθ，
Wherein, the first and the second end of the pipe are connected with each other,ithe number of the targets is represented,i=1，……，k，kis a positive integer representing the target total number;
representing a set of objectsS1 at each target point: (u i ，v i ) To the outer envelope ellipse center: (x 0 ，y 0 ) The distance vector of (a);
if the object feature point is determined by the number of 2 artificial beacons, the direction angle of the connection line of the 2 artificial beaconsα 1 Is the azimuth angle of the X axis; if the real object feature points are determined by the artificial beacons with the number larger than 2, the direction angle of the connecting line of the 2 artificial beacons with the farthest left-right distanceα 2 Is the azimuth angle of the X axis.
Preferably, the sector areas mentioned in the fourth step include exclusive sectors and shared sectors;
the exclusive sector is to divide a target area into N sector areas, and each sector area corresponds to one of N attack aircrafts; the sharing sector is to divide the target area into N/2 sector areas, each sector area corresponds to two of the N attacking aircrafts, and the serial numbers of the two attacking aircrafts are odd-even adjacent serial numbers.
Preferably, the fourth step further comprises the following steps: when a sector area contains a plurality of targets, each attacking aircraft takes the number of the attacking aircraft as priority, namely the attacking aircraftjWhen selecting the target, firstly simulating beforej1, selecting targets selected by the attacking aircraft, and selecting own targets from the targets which are not selected; whereinjThe number of the attacking aircraft is numbered,j∈J，Jis an integer greater than 1 and represents the total number of attacking aircrafts;
each attacking aircraft determines the target distribution condition according to the Euclidean distance between the target and the origin and the angle between the target and the central line of the sector area, and the method specifically comprises the following steps:
when the sector area is an exclusive sector and comprises a plurality of targets, each attacking aircraft determines the selected target from the corresponding sector area in a manner of weighting calculation of Euclidean distance from the target to an origin and an included angle between the target and a central line of the sector area; the formula of the weighting calculation is as follows:
wherein the content of the first and second substances,obj i ❉ is the selected targeti；θ ji Is a target ofiThe included angle between the central line of the fan-shaped area,D ji is a target ofiEuclidean distance from the origin;αfor a set fusion factor for determining distance-first or angle-first,αthe value range of (0,1);
when the sector area is a shared sector and comprises a plurality of targets, each sector area corresponds to two attacking aircrafts, and one attacking aircraft selects the target with the smallest included angle with the central line of the sector area according to the angle priority principle; and selecting the target with the minimum Euclidean distance from the origin according to the distance priority principle by the other attacking aircraft.
Compared with the prior art, the invention provides a multi-aircraft target cooperative attack method under the condition of no data chain, which has the following beneficial effects:
(1) According to the method, the object feature points are constructed to ensure that all attacking aircrafts recognize and obtain the target area containing the same target set, so that the conditions that multiple aircrafts recognize multiple target ranges are inconsistent and recognition is disordered are avoided. And each attacking aircraft establishes a rectangular coordinate system according to the multiple identified targets to obtain the unique position description of each target, so that the multi-target distribution of the multiple attacking aircraft is more reasonably and efficiently realized. The method comprises the steps of dividing a target area into sectors, setting the corresponding relation between the sector area and an attack aircraft, achieving final target distribution, determining target distribution conditions when one sector area contains a plurality of targets according to Euclidean distances between the targets and an original point and angles between the targets and the central line of the sector area, avoiding the condition that the targets are emptied in multiple rounds of attack, avoiding the condition that the same target is attacked for multiple times, improving the accuracy and reliability of target distribution, providing a basis for hitting the targets more reasonably, planning a target distribution strategy in advance, enabling each attack aircraft to attack according to planned strategies and information under the condition of no data chain communication, and avoiding dependence on communication conditions and main attack aircraft in the traditional distribution attack strategy.
(2) The positioning and loading of the spreader completes construction of real object feature points and first-round attack, the attack loading completes subsequent attack, and each attack aircraft attacks according to planned strategies and information under the condition of no data chain communication, so that the dependence on communication conditions and main attack aircraft in the traditional distribution attack strategy is avoided.
(3) The direction angle of the X axis of the established coordinate system is determined by considering the number of the artificial beacons, the matching performance of the coordinate system and the distribution state of the group targets is enhanced, more reasonable coordinate planning is obtained, and the follow-up target distribution work is facilitated; meanwhile, the light-emitting time of the artificial beacon which is a light-emitting object is considered to be required to be continuously emitted until the attack task is finished, so that the attack process can be ensured to be continuously and smoothly carried out.
(4) The sectorization region comprises two strategies of exclusive sectorization and sharing sectorization, so that the situation that only one exclusive sectorization cannot meet the requirement of complicated target distribution and is difficult to distribute can be prevented; meanwhile, when the targets are distributed in the shared sector, one attack aircraft prevents a plurality of attack aircrafts from attacking the same target in the same sector according to the principle of angle priority and the principle of distance priority, so that the resource waste is avoided and the fighting efficiency is improved; each aircraft takes the serial number as the priority, firstly simulates the target selected by the previous attacking aircraft, and then selects the target of the aircraft from the remaining unselected targets, thereby further ensuring the accuracy of the serial number as the priority and being more beneficial to preventing the repeated attack.
Drawings
FIG. 1 is a schematic diagram showing the confusion of targets in the field of view when there are multiple aircrafts in the embodiment 1 of the invention;
fig. 2 is a schematic diagram of selecting a target line by line first downward according to object feature points in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of a coordinate system in a single artificial beacon mode in embodiment 1 of the present invention;
fig. 4 is a schematic view of a coordinate system in the duplex beacon mode according to embodiment 1 of the present invention;
fig. 5 is a schematic view of a coordinate system in the multi-artificial beacon mode in embodiment 1 of the present invention;
FIG. 6 is a schematic view of a sector area including a plurality of targets in embodiment 1 of the present invention;
fig. 7 is a schematic diagram of 12 sector areas according to embodiment 1 of the present invention;
fig. 8 is a schematic diagram of 6 sectorial regions division in embodiment 1 of the present invention;
FIG. 9 is a schematic view showing the loading of the dispenser in example 1 of the present invention;
FIG. 10 is a flowchart of the battle of an attacking aircraft in embodiment 1 of the present invention;
FIG. 11 is a schematic view of the operation process of 2 beacons according to embodiment 1 of the present invention;
fig. 12 is a schematic diagram of the destroying process of 4 spreaders in embodiment 1 of 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.
In view of the analysis of the prior art and the research background, an effective solution for the multi-aircraft multi-target cooperation problem under the condition of no data chain is not available. The main reason is that the difficulty of the multi-aircraft multi-target cooperation technology under the condition of no data chain is mainly reflected in that the group targets cannot be distinguished among the aircrafts and the efficient target distribution of the multiple targets among the aircrafts cannot be carried out. As shown in fig. 1, multiple targets appear in the field of view of different attacking aircraft, and it is difficult to find a clear way of distinguishing.
The invention provides a multi-aircraft multi-target cooperative attack method based on physical characteristic points. The distribution device for positioning and filling comprises a positioning aircraft for releasing artificial beacons and constructing object characteristic points. Screening the targets by each attacking aircraft according to the principle that the targets are downward and upward based on the real object feature points, then taking the center of an outer envelope ellipse formed at the periphery of the target identified by each attacking aircraft as an origin, taking the long axis of the ellipse as an X axis, determining the direction angle of the X axis according to specific conditions, establishing a rectangular coordinate system, and obtaining the unique position description of each target. And taking the serial number as the priority of each attacking aircraft, and comprehensively considering the target distribution condition by combining the Euclidean distance from the target to the origin and the angle between the target and the central line of the sector area so as to carry out attack battle. And arranging a plurality of scattering devices, and completing multi-aircraft multi-target cooperative attack battle under the condition of no data chain communication through multi-round attack.
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
a multi-aircraft target cooperative attack method under a data-chain-free condition specifically comprises the following steps:
step one, release multiple artificial beacons at the periphery of the area where the group target is located.
The artificial beacons are released by a positioning aircraft, the positioning aircraft is arranged on a spreader loaded on an airplane, and one positioning aircraft comprises a plurality of artificial beacons.
The scheme adopts a leading aircraft-following aircraft mode, but a positioning aircraft-attacking aircraft mode.
A plurality of scattering devices are arranged in the airplane, a certain number of sub-aircraft medicines are arranged in the scattering devices, and the types of the sub-aircraft medicines are divided into a positioning aircraft and an attacking aircraft. The loading mode of the spreader comprises positioning loading and attack loading.
In the examples, it is assumed that the aircraft is on-boardMA spreader; 1 distributor is positioned and filled, i.e. the distributor comprises 1 positioning aircraft andJ-1 attacking aircraft; in addition, theM1 dispenser is charged for an attack, i.e. theM1 spreader ofJAll the aircrafts are attack aircrafts; wherein the content of the first and second substances,Mis an integer greater than or equal to 1,Jrepresenting the total number of aircraft in a dispenser,Jis an integer greater than 1.
The scatter device for positioning filling is used for throwing artificial beacons and attacking targets during first-round attack, and the scatter device for attacking filling is responsible for subsequent attack. A schematic of both packing modes is shown in fig. 9. The scatter device for positioning filling is used for throwing artificial beacons and attacking targets during first-round attack, and the scatter device for attacking filling is responsible for subsequent attack. Fig. 9 includes 12 attacking aircraft, which are not limited in number by any particular means, at least for illustrative purposes.
The positioning aircraft does not comprise a battle part, is internally provided with a plurality of light-emitting devices or markers with certain colors and shapes, is called beacons and is used for constructing object characteristic points. According to the position information of the group target, the positioning aircraft releases a plurality of artificial beacons at the periphery of the area where the group target is located, and the camera converts the position information of the artificial beacons into physical feature points after detecting the artificial beacons. In the specific implementation process, the artificial beacon is released at the periphery of the area where the group target is located, so that the influence of smoke generated by the carrier aircraft on the identification of the target is prevented. And manually releasing a plurality of beacons, wherein the beacons can be luminous objects such as towing aircrafts and the like, and can also be objects with certain shapes or colors. After the camera detects the artificial beacon, the artificial beacon is converted into the feature points, and then a rectangular coordinate system is established by using the coordinates of the group target and the reference point in the image, so that the group target is numbered, and the purpose of distinguishing is realized.
The release position of the artificial beacon described above needs to satisfy several conditions: firstly, the detection device can recognize the position when the device is placed at the position; secondly, the beacon at this position cannot interfere with the identification of the target and can be placed outside the area of the target. When the beacon is a luminous object, the emitted signal is not limited to visible light, but includes various signals that can be detected by a detector, such as infrared and ultraviolet.
The positioning aircraft adopts a short-time high-thrust engine, the center coordinate of a target area is bound in advance to serve as a landing point, a throwing instruction is given according to a height measuring fuse before the positioning aircraft approaches the landing, a plurality of luminous objects are separated from the aircraft body and distributed in the target area at certain intervals, and a specific throwing position has a proper distance with a task area so as to reduce the influence of smoke on the positioning aircraft in the target attacking process. The interval between beacons needs to be determined comprehensively according to the distance between the camera and the group target and camera parameters (focal length and image resolution), the maximum interval needs to be ensured to identify all beacons in the image at the same time, and the minimum interval is not less than 6-10 times of the diameter of the beacon, so as to avoid the influence of imaging noise on subsequent calculation.
After different cameras detect a plurality of beacons simultaneously, the position information coordinates of the artificial beacons are averaged to serve as the coordinates of the real object feature points, and the coordinates are expressed by a formula as follows:
wherein the content of the first and second substances,Krepresents the number of beacons: (x h ，y h ) Is shown ashThe image coordinates of each of the artificial beacons,h∈Kby (a)x d , y d ) And representing the coordinate values of the calculated real object feature points.
The point is used as a common reference point by each camera, and the targets in a certain range nearby the point are uniquely determined to be the same group of targets in the visual field of each camera according to the position of the reference point, so that the multiple aircrafts can efficiently distinguish the multiple targets.
The attack aircraft is internally provided with a warhead for attacking targets. The number of attacking aircrafts is the main, and the number of positioning aircrafts is little.
Step two, after each attack aircraft identifies the artificial beacon through an image detection means, the position information of the artificial beacon is subjected to statistical operation to obtain a material object feature point; target areas determined by all attacking aircrafts according to the real object feature points contain the same target setS1。
Target areas determined by all attacking aircrafts according to real object feature points contain the same target setS1 is: different attacking aircrafts adjust the aiming directions thereof according to the position reference, and have the same viewThe field range is aimed at the same position reference, different attacking aircrafts all use the position reference as a starting point, and the targets are identified in rows in a mode of going upwards and downwards to obtain the same target setS1。
Because the postures of the aircrafts are different, the targets seen in the visual fields of the aircrafts are overlapped and staggered, and the targets need to be aligned by using beacons. Therefore, each aircraft firstly uses the real object feature points constructed by the artificial beacons as a reference to screen the initially identified targets.
In a typical application scenario, the positions of the objects are substantially in the form of a two-dimensional matrix, and the objects are arranged in rows and columns. On the basis of detecting the target set S, each aircraft can extract the traveling direction as a main direction by using RANSAC + least square algorithm according to the coordinates of all targets in the target set;
then, selecting the target by line within a corresponding preset width range (which can be estimated by the camera intrinsic parameters and the aircraft eye distance) in the image space along a straight line passing through the feature point and perpendicular to the main direction, and obtaining a target set S1. In selection, the targets identifying which rows are determined according to a "downward first followed by upward" priority:
"first downward": taking the object feature points as an example, the process of target identification is shown in fig. 2. Fig. 2 (a) shows that, in the first round of attack, each aircraft recognizes the midpoint of the connecting line of the two beacons as a reference point, and then recognizes the target by line, downward along the perpendicular direction between the reference point and the main direction (lateral direction) of the target. In each line of recognition, objects are selected from a set S of previously recognized objects, from the near to the far from the vertical, with solid objects representing already selected objects and empty objects not being selected. Fig. 2 (b) shows that after a certain number of targets are destroyed for attack, each aircraft which carries out subsequent attack continues to select the targets line by line according to the algorithm, wherein the solid targets represent the targets which have already been selected, and the hollow targets are not selected.
"back up": when the number of the recognized targets is not larger than the preset number of the targets after the downward recognition process is finished, the upward recognition mode is adopted, namely, the targets are sequentially recognized from the target set S upward in rows along the direction of the vertical line between the reference point and the main direction (transverse direction) of the targets from the reference point, and in each row of recognition, the targets are selected from the previously recognized target set S from the near to the far according to the distance from the vertical line.
Step three, each attacking aircraft respectively identifies the target set according to the attacking aircraft under the condition of no data chain communicationS1 calculating the center of the outer envelope ellipsex 0 ，y 0 ) And determining the long axis and the short axis of the outer envelope ellipse according to the visual field range of each attacking aircraft, and constructing the outer envelope ellipse of each attacking aircraft in the identification target area.
Center of outer envelope ellipse: (x 0 ，y 0 ) And taking the long axis of the outer envelope ellipse as an origin, determining the direction angle of the X axis according to the position structure characteristics extracted in the step one, establishing a rectangular coordinate system, and obtaining the position information of each target, wherein the position information of the same target is unique and the same in different attacking aircrafts.
The landform around the group target is similar and has no obvious characteristic. When multiple aircrafts attack simultaneously, the visual field is overlapped greatly and has certain dislocation in the initial stage, a plurality of gathered targets are difficult to distinguish effectively on the premise of no data chain, independent and unique numbers cannot be formed, the condition that multiple aircrafts attack the same target is caused, and the combat efficiency is greatly reduced. Under the condition, a coordinate system needs to be established on the basis of the identified targets, and then each aircraft selects different targets respectively according to a distribution algorithm to attack the unique target respectively.
Each aircraft using a respective set of identified targetsS1, fitting the major axis direction angle of the outer envelope ellipse of the target group by using the following formulaθComprises the following steps:
wherein the content of the first and second substances,ithe number of the targets is represented,i=1，……，k，kis a positive integer and represents the total number of targets;
representing a set of objectsS1 at each target point: (u i ，v i ) To the outer envelope ellipse center: (x 0 ，y 0 ) The distance vector of (a);
outer enveloping ellipse center (x 0 ，y 0 ) Is a target setS1 at each target point: (u i ，v i ) Average value of (a). (u i ，v i ) To representiImage coordinates of individual objects i.e. secondiImage coordinates of the grid on which the object is located, the center of the outer envelope ellipse: (x 0 ，y 0 ) Is expressed as:
then, a rectangular coordinate system is established by utilizing the fitting ellipse information and the reference point information, and taking the view field of any one camera as an example, three conditions are specifically provided:
(1) The object feature points are determined by a single artificial beacon.
In this case, at the center of the fitted ellipse ((s))x 0 ,y 0 ) A coordinate system (indicated by a cross block in the schematic diagram) is established, and the included angle between the X axis and the u axis is the direction angle theta of the horizontal axis of the ellipse, wherein uv is the image coordinate system. As shown in fig. 3.
(2) And the object feature points are determined by two artificial beacons.
If the number of the artificial beacons is 2, the direction angle of the connection line of the two artificial beaconsα 1 Is the azimuth angle of the X axis; as shown in fig. 4, in this case, at the center of the fitted ellipse(s) ((s))x 0 ,y 0 ) Construction workA vertical coordinate system with an included angle between the X axis and the u axis as a direction angle of the connection line of the two beaconsα 1 And uv is an image coordinate system.
(3) And the real object feature points are determined by a plurality of artificial beacons.
If the number of the artificial beacons is more than 2, the direction angle of the connecting line of the two artificial beacons with the farthest left and right distancesα 2 Is the azimuth angle of the X axis. In the present invention, the left-right distance is a distance in a direction parallel to the u-axis of the image coordinate system, and the distance in a direction perpendicular to the u-axis is an up-down distance. As shown in fig. 5, the origin of the coordinate system is the center of the ellipse: (x 0 ,y 0 ) The X-axis direction angle is the direction of the connection line of the two farthest left and right beaconsα 2 。
And step four, each attacking aircraft uses the origin of the rectangular coordinate system established by the attacking aircraft as the center, divides the target area into a plurality of fan-shaped areas with the same angle size, and sets the corresponding relation between the fan-shaped areas and the attacking aircraft, wherein the corresponding relation comprises that one fan-shaped area corresponds to one attacking aircraft and one fan-shaped area corresponds to a plurality of attacking aircraft.
When one sector area only contains one target, the target in the sector area is allocated to the corresponding attack aircraft; when one sector area comprises a plurality of targets, each attacking aircraft determines the distribution condition of the targets according to the Euclidean distance between the targets and the origin and the angle between the targets and the central line of the sector area. And for the condition that one sector area comprises a plurality of targets, before each attacking aircraft carries out target distribution selection, each attacking aircraft takes the number of the attacking aircraft as the priority, namely the attacking aircraftjWhen selecting the target, firstly simulating beforej1, selecting targets selected by the attacking aircraft, and selecting own targets from the targets which are not selected; whereinjThe number of the attacking aircraft is numbered,j∈J，Jis an integer greater than 1 and represents the total number of attacking aircraft. The serial number is used as the priority, so that the situation that when each attacking aircraft determines the target distribution condition according to the Euclidean distance between the target and the origin and the angle between the target and the central line of the sector area, because of calculation errors or exactly one attacking aircraft existsThe condition that multiple aircrafts attack the same target is caused by the fact that the target conforms to the principle of angle priority and the principle of distance priority. The serial number of each attack aircraft is a fixed and unchangeable serial number which is set when the aircraft leaves factory. After the coordinate system is established, the coordinates of all visible targets in the coordinate system can obtain a unique solution through image calculation. The target distribution can be completed by using the unique coordinates of each target on the basis, and the position information of each target is unique and the same in different attacking aircrafts.
The basic principle of target allocation is as follows: taking the origin of the coordinate system as the center, drawing N rays, N =JThe target area is divided into N fan-shaped areas with the same size. When each sector area only comprises one target, each attacking aircraft directly distributes the targets in the corresponding equal sector numbers; numbering the sectors in the counter-clockwise direction, the sector numbers corresponding to the numbers of the attacking aircrafts and being equal, for examplejAttack number aircraft is selected to be in its second placeiAn object in a sector area, whereinjThe number of the attacking aircraft is numbered,j∈J，Jis an integer greater than 1 and represents the total number of attacking aircraft. In this embodiment, when the corresponding relationship between the sector area and the attacking aircraft is set, the corresponding relationship is performed by respectively setting numbers, and in a specific implementation process, although each attacking aircraft already has a number, the method is not limited to the method of setting a number for performing the corresponding relationship, and other methods and other corresponding relationships may be selected.
The target allocation algorithm of the invention follows the following principle points:
(1) When each aircraft selects a target, the same target distribution algorithm is used; this can avoid the situation that different target allocation algorithms cause the same target to be attacked multiple times or have targets to be rotated out of selection.
(2) Allocating numbers for each aircraft, and taking the numbers as priorities;
(3) When a certain aircraft selects a target, firstly simulating which target is selected by the aircraft with higher priority than the certain aircraft;
(4) On the basis, the target to be hit by the user is selected from the remaining targets.
Setting the number of attacking aircrafts as N, N =JThe process of allocating targets for each attacking aircraft is divided into the following three steps:
(1) Each aircraft has independently established a coordinate system on its identified set of targets.
(2) The target area is divided into a plurality of sector areas by taking the origin and the X axis as the reference, and each aircraft is allocated with one sector area according to the number of the aircraft. There are two ways to divide the sector area: exclusive sectors and shared sectors. The independent sector is that a target area is divided into N sectors, each sector is divided and only distributed to one of N attacking aircrafts, and a target in each sector is only selected by the corresponding attacking aircraft; sharing sectors means that a target area is divided into N/2 sectors, each sector is allocated to two attacking aircrafts, and targets in the sectors are only selected by the corresponding two attacking aircrafts. Specifically, the sector area includes an exclusive sector and a shared sector; the exclusive sector is to divide a target area into N sector areas, and each sector area is only allocated to one of N attacking aircrafts; the sharing sector is to divide the target area into N/2 sector areas, each sector area is allocated with two of the N attacking aircrafts, and the numbers of the two attacking aircrafts are odd-even adjacent numbers.
(3) Each aircraft selects its own target from the sector area according to a certain strategy.
When the target is selected, each aircraft faces the problem of selecting the target closest to the origin or the target closest to the bisector angle in the sector to which the aircraft belongs. As shown in fig. 6, for the attacking aircraft belonging to the sector shown in the figure, when selecting the target, the two typical cases are target number 1 closer to the origin in euclidean distance and target number 2 closest to the sector center line in angular distance, which requires establishing an effective mechanism for comprehensive selection, that is, using weighted average of euclidean distance and angular distance.
After each attacking aircraft acquires a target set in a field of view, the attacking aircraft sequentially selects the attacking aircraft to be treated according to the sequence by taking the serial numbers as prioritiesThe target of the attack. Attack aircraftjIn selecting a targetiFirst, simulate the frontj-targets selected by attack aircraft # 1, selecting their own targets from the remaining targets that have not been selected, whereinjThe number of the attacking aircraft is numbered,j∈J，Jis an integer greater than 1 and represents the total number of attacking aircraft.
To attack the aircraftjFor example, its priority isjI.e. it needs to be precededjAnd 1 attacking aircraft selects one target from the rest targets. Thus, attacking the aircraftjAccording to the target distribution algorithm, firstly simulating from No. 1 tojTarget selection is carried out on No. 1 attacking aircraft, and the target selection is sequentially calculatedj1 attacking aircraft each chooses which targets; then, the targets to be attacked are selected from the remaining unselected targets according to the same target distribution algorithm. Therefore, the situation that multiple aircrafts attack the same target is reduced when the target distribution situation is determined by each attacking aircraft according to the Euclidean distance between the target and the origin and the angle between the target and the central line of the sector area.
When each sector area comprises a plurality of targets, each attacking aircraft takes the serial number as the priority, and the target distribution condition is determined according to the Euclidean distance between the target and the origin and the angle between the target and the central line of the sector area.
When the exclusive sector comprises a plurality of targets, each attacking aircraft determines the selected target from a sector area corresponding to the attacking aircraft in a manner of performing weighted calculation on Euclidean distance from the target to an origin and an included angle between the target and a central line of the sector area; the formula for the weighting calculation is:
wherein the content of the first and second substances,obj i ❉ is the selected targeti；θ ji Is a target ofiThe included angle between the central line of the fan-shaped area,D ji is a target ofiEuclidean distance from the origin;αfor set purpose for determining distance priority orThe angle-first fusion factor is used to determine the angle-first fusion factor,αthe value range of (1) is (0,1), and is used for determining the weight bias point of the attack aircraft selection target, and the Euclidean distance from the origin is preferred or the angular distance from the central angle of the sector area is preferred. In the course of the specific implementation,αthe specific value of (2) is determined according to the actual situation, and the value range is only limited, and the specific value is not specifically limited.
As shown in fig. 7, each attacking aircraft has a separate sector area and the same target picking algorithm. Dividing the whole circumference into 12 fan-shaped areas at equal intervals by taking the origin of a coordinate system as the center, and selecting a target by each attacking aircraft according to the same algorithm in the corresponding fan-shaped area according to the number of each attacking aircraft. The division into 12 sector areas is only an example, and the number of the sector areas is not specifically limited, and in an actual process, different numbers of sector areas can be divided according to requirements.
When the shared sector comprises a plurality of targets, each sector area corresponds to two attacking aircrafts, and one attacking aircraft selects the target with the smallest included angle with the central line of the sector area according to the principle of angle priority; and selecting the target with the minimum Euclidean distance from the origin according to the distance priority principle by the other attacking aircraft.
In a specific embodiment, when the shared sector comprises a plurality of targets, each sector area is set to correspond to the attacking aircraft numbered in the odd numberj 1 And attack aircraft numbered evenj 1 +1; here, theαIs set to be 0.8, and the corresponding value is 1-αIs 0.2. However, the value in this embodiment is only the optimal value obtained through experiments and calculations, and is not limited to the case where the shared sector includes multiple targets, and the weight with the smallest included angle is selected to be 0.8. It is also not a limitation that the odd numbered attacking aircraft must select the target with the smallest included angle.
In the embodiment, an odd attack aircraft is arrangedj 1 According to the angle priority principle, selecting the target with the smallest included angle with the central line of the sector area:
in the present embodiment, an even-numbered attack aircraft is providedj 1 +1 according to the distance priority principle, selecting the target with the minimum Euclidean distance from the origin:
each attacking aircraft has a common sector area and different target selection algorithms. As shown in fig. 8, the difference from strategy 1 is that the entire circumference is divided into 6 sectors equally spaced, and each odd-numbered attacking aircraft shares a sector with its succeeding even-numbered attacking aircraft (e.g., 1 and 2 share a sector, and 3 and 4 share a sector), and the target is selected according to different algorithms. That is, two attacking aircraft that share a target within the same sector area, one according to euclidean distance preference and one according to angular distance preference, are selected. The division into 6 sector areas is only for example, and the number of the sector areas is not specifically limited, and in an actual process, different numbers of sector areas can be divided according to requirements.
According to the method, the multi-target effective distribution of the multiple aircrafts is realized, the attack can be carried out without depending on the data link communication condition, and each aircraft can directly select the attack target according to the planned distribution scheme.
And step five, finishing the battle attack by each attack aircraft according to the target distribution condition.
The flow chart of the working process of attacking the aircraft is shown in fig. 10.
When the target area has no flood tide and enemy interference, the artificial beacon can be relied on to the greatest extent, so that the establishment of the coordinate system is more definite and reliable, and the maximum performance is obtained. According to the design, the artificial beacon has longer light-emitting time and can continuously emit light until the attack task is finished.
In the attack flow, parameters such as the width of an attack target of 40 meters, the number of the scattering devices of 4, the number of the attack aircrafts of 12, the release time interval of the scattering devices of about 6 seconds and the like are set for displaying a specific flow, and the parameters are only used for illustrating the scheme of the invention more clearly and are not limited specifically, and can be set automatically according to needs and actual conditions in the actual process. The specific process is as follows:
1) For attacking three rows of targets within the width of 40 meters, the airplane is loaded with 4 distributing devices in advance, wherein 1 is positioned and filled (1 positioning aircraft carrying artificial beacons and 11 attacking aircraft), 3 is attacked and filled (12 attacking aircraft are all attacking aircraft), and the landing point of each sub-aircraft drug in all the distributing devices is preset as the center of the task area;
2) After the airplane flies to a proper distance away from the target area, releasing the first spreader (positioning and filling);
3) The spreader releases 1 positioning aircraft and 11 attacking aircraft, wherein the positioning aircraft flies over a task area at a higher speed and a specific track in advance, and the artificial beacon is put in a proper position on the ground of the task area before the other 11 attacking aircraft visual systems are started (the target distance of the aircraft is more than or equal to 1000 meters);
4) When the other 11 attacking aircrafts start the visual system, the artificial beacons are identified, the target to be attacked is selected from all detected targets, and the target enters a locking state and is attacked;
5) The aircraft releases the next dispenser about 6s after the last dispenser is released (so that the attack of the last dispenser is completed when the 12 sub-aircraft medicines are started in the visual system);
6) 6 pairs of 12 attacking aircrafts are released by the spreader, the attacking aircrafts fly to the spreading position of the visual system (the distance between the aircrafts is more than or equal to 1000 meters), the visual system is started, the artificial beacons are identified, and target distribution and attack guidance are completed;
7) Go 5) until all spreaders complete the attack.
8) And (6) ending.
As shown in fig. 11, taking an example of using 2 artificial beacons to construct object feature points, the operation flow of the method is exemplarily described, where (a) in fig. 11 is target distribution, (b) in fig. 11 is a process of releasing a first spreader and positioning an aircraft, and releasing 2 artificial beacons outside a group target area, (c) in fig. 11 to (g) in fig. 11 are processes of establishing a rectangular coordinate system, and (h) in fig. 11 to (i) in fig. 11 are selections of an attack area and an attack target by an attack aircraft with a distance of No. 3, an attack area is determined first, then a target attacked by the attack aircraft before No. 3 is determined, and then a target to be attacked by itself is selected from the remaining targets.
As shown in fig. 12, 4 spreaders are taken as an example to demonstrate the spreader destruction effect of the method, where (a) in fig. 12 is the state before attack, fig. 12 (b) is the state after the first spreader is positioned and attacked, fig. 12 (c) is the state after attack of the second spreader, fig. 12 (d) is the state after attack of the third spreader, and fig. 12 (e) is the state after attack of the fourth spreader.
The invention provides a multi-aircraft multi-target cooperative attack method based on physical characteristic points, wherein data link communication mechanisms are not arranged among all distributors and among all aircrafts in the same distributor, so that the planning of an attack task does not depend on data link communication. After the identification of the target is completed, each aircraft independently completes the planning of the own attack task according to a preset algorithm, and determines the target to be attacked. In the process, the task and the cooperation are not required to be planned uniformly by the aircraft roles, and any information is not required to be exchanged between the aircraft roles.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (9)
1. A multi-aircraft target cooperative attack method under a data-chain-free condition is characterized in that a real object feature point representation is extractedThe position reference of each target in the group targets is determined, and each attacking aircraft determines a set containing the same targets according to the position referenceS1, and then completing the distribution and attack of the group targets in the target area, specifically comprising the following steps:
step one, releasing a plurality of artificial beacons at the periphery of an area where a group target is located according to the position information of the group target, and extracting the position structure characteristics of the area where the group target is located;
step two, after each attacking aircraft identifies the artificial beacon through an image detection means, carrying out statistical operation on the position information of the artificial beacon to obtain a physical feature point; target areas determined by all attacking aircrafts according to the real object feature points contain the same target setS1；
Step three, under the condition of no data link communication, each attacking aircraft respectively collects the targets identified according to the attacking aircraftS1 calculating the center of the outer envelope ellipsex 0 ，y 0 ) Determining the long axis and the short axis of the outer envelope ellipse according to the visual field range of each attacking aircraft, and constructing the outer envelope ellipse of each attacking aircraft in the identification target area;
center of outer envelope ellipse: (x 0 ，y 0 ) The long axis of the outer envelope ellipse is an X axis, the direction angle of the X axis is determined according to the position structure characteristics extracted in the step one, a rectangular coordinate system is established, the position information of each target is obtained, and the position information of the same target is unique and the same in different attacking aircrafts;
fourthly, each attacking aircraft uses the origin of the rectangular coordinate system established by the attacking aircraft as the center, divides the target area into a plurality of fan-shaped areas with the same angle size, and sets the corresponding relation between the fan-shaped areas and the attacking aircraft, wherein each fan-shaped area corresponds to one attacking aircraft and one fan-shaped area corresponds to a plurality of attacking aircraft;
when one sector area only contains one target, the target in the sector area is allocated to the corresponding attack aircraft; when one sector area comprises a plurality of targets, each attacking aircraft determines the target distribution condition according to the Euclidean distance between the target and the origin and the angle between the target and the central line of the sector area;
and step five, finishing the combat attack by each attacking aircraft according to the target distribution condition.
2. The method according to claim 1, wherein the artificial beacon mentioned in the first step is released by a positioning vehicle, the positioning vehicle is disposed on a spreader mounted on an airplane, and one positioning vehicle comprises a plurality of artificial beacons;
the artificial beacon is a luminous object or an object with a certain shape or color; the light emitting time of the light emitting object can be continuously emitted until the attack task is finished.
3. The method for the cooperative attack on the multiple aircraft targets under the condition of no data chain as claimed in claim 2, wherein the loading mode of the spreader comprises positioning loading and attack loading; the distributor with the positioning filling comprises 1 positioning aircraft andJ-1 attacking aircraft; in the dispenser of the attack fillingJAll the aircrafts are attack aircrafts; wherein, the first and the second end of the pipe are connected with each other,Jrepresenting the total number of aircraft in a dispenser,Jis an integer greater than 1.
4. The method for multi-aircraft target cooperative attack without data chain elements as claimed in claim 3, wherein the spreader of the positioning loading is used for launching artificial beacons and attacking the target during the first round of attack, and the spreader of the attack loading is responsible for the subsequent attack.
5. The method for multi-aircraft target cooperative attack under the condition of no data chain according to claim 1, wherein the statistical operation is performed on the position information of the artificial beacon in the step two to obtain a physical feature point, and specifically comprises the following steps: and calculating an average value of the position information coordinates of the artificial beacons as coordinates of the real object feature points.
6. The method according to claim 1, wherein the target areas of the attacking aircrafts determined according to the physical feature points in the step two include the same target setS1, specifically: different attacking aircrafts adjust the aiming directions thereof according to the position reference, have the same visual field range and aim at the same position reference, and recognize targets in rows according to the mode of downwards and upwards by taking the position reference as a starting point to obtain the same target setS1。
7. The method for multi-aircraft target cooperative attack under dataless chain conditions as claimed in claim 1, wherein the center of the outer envelope ellipse mentioned in step three is (b), (c), and (d)x 0 ，y 0 ) Is a target setS1 at each target point: (u i ，v i ) Average value of (d); wherein (A) and (B)u i ，v i ) For each target point in the image coordinate system of each attacking aircraftiThe coordinates of (a);
the direction angle of the X axis is an included angle between the X axis and a horizontal axis u axis of an image coordinate system of each attacking aircraft, and the direction angle of the X axis is determined in the following mode:
if the object feature point is determined by an artificial beacon, the direction angleθ，
Wherein the content of the first and second substances,ithe number of the targets is represented,i=1，……，k，kis a positive integer representing the target total number;
representing a set of objectsS1 at each target point: (u i ，v i ) To the outer envelope ellipse center (x 0 ，y 0 ) The distance vector of (a);
if the object feature point is determined by the number of 2 artificial beacons, the direction angle of the connection line of the 2 artificial beaconsα 1 Is the azimuth angle of the X axis; if the real object feature points are determined by the artificial beacons with the number larger than 2, the direction angle of the connecting line of the 2 artificial beacons with the farthest left-right distanceα 2 Is the azimuth angle of the X axis.
8. The method for multi-aircraft target cooperative attack without data chaining of claim 1, wherein the sector areas mentioned in step four comprise exclusive sectors and shared sectors;
the exclusive sector is to divide a target area into N sector areas, and each sector area corresponds to one of N attack aircrafts; the sharing sector is to divide the target area into N/2 sector areas, each sector area corresponds to two of the N attacking aircrafts, and the serial numbers of the two attacking aircrafts are odd-even adjacent serial numbers.
9. The method of claim 5, wherein the fourth step further comprises the following steps: when a sector area contains a plurality of targets, each attacking aircraft takes the number of the attacking aircraft as priority, namely the attacking aircraftjWhen selecting the target, firstly simulating beforej1, selecting targets selected by the attacking aircraft, and selecting own targets from the targets which are not selected; whereinjThe number of the attacking aircraft is numbered,j∈J，Jis an integer greater than 1 and represents the total number of attacking aircrafts;
each attacking aircraft determines the target distribution condition according to the Euclidean distance between the target and the origin and the angle between the target and the central line of the sector area, and the method specifically comprises the following steps:
when the sector area is an exclusive sector and comprises a plurality of targets, each attacking aircraft determines the selected target from the corresponding sector area in a manner of weighting calculation of Euclidean distance from the target to an origin and an included angle between the target and a central line of the sector area; the formula of the weighting calculation is as follows:
wherein the content of the first and second substances,obj i ❉ is the selected targeti；θ ji Is a target ofiThe included angle between the central line of the sector area and the central line of the sector area is formed,D ji is a target ofiEuclidean distance from the origin;αfor a set fusion factor for determining distance-first or angle-first,αthe value range of (0,1);
when the sector areas are shared sectors and comprise a plurality of targets, each sector area corresponds to two attacking aircrafts, and one attacking aircraft selects the target with the smallest included angle with the central line of the sector area according to the principle of angle priority; and selecting the target with the minimum Euclidean distance from the origin according to the distance priority principle by the other attacking aircraft.
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