CN115345035A - Method for optimizing aiming point of multi-directional hitting space of body target - Google Patents

Method for optimizing aiming point of multi-directional hitting space of body target Download PDF

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CN115345035A
CN115345035A CN202211275398.0A CN202211275398A CN115345035A CN 115345035 A CN115345035 A CN 115345035A CN 202211275398 A CN202211275398 A CN 202211275398A CN 115345035 A CN115345035 A CN 115345035A
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target
aiming
points
aiming point
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CN115345035B (en
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赵国宏
江光德
蒋鸣
赵云飞
陈豪
高润芳
魏庆栋
姜伟
宫树香
刘庆国
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    • G06—COMPUTING; CALCULATING OR COUNTING
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Abstract

The invention belongs to the field of military operation and research, and particularly relates to an aiming point optimization method. A body target multidirectional hitting space aiming point optimization method solves the problems that a body target is hit by a certain number of missiles according to a certain attack entering direction, and the space aiming point is optimized according to the maximum damage volume of a target function under the condition that the damage radius is known and the shooting error is considered; the method is characterized in that based on the multi-directional three-dimensional hitting characteristics of the missile and the volume damage principle, the method takes hit probability, position depth and overlapping volume ratio as optimization indexes, and screens out space aiming points with high hit probability, deep position depth and overlapping volume ratio smaller than a specified value according to a certain optimal proportion. In the optimization process, the calculation of the volume damage effect is not needed, and the calculation efficiency is obviously improved compared with the traditional method while a better solution is obtained; the method is suitable for complex figure targets, multi-shot targets and attack directions, and is high in engineering practicability by considering the calculation of complex conditions such as shooting errors.

Description

Method for optimizing aiming point of multi-directional hitting space of body target
Technical Field
The invention belongs to the field of military operation and research, and particularly relates to an aiming point optimization method.
Background
Aiming point optimization is a key technology for supporting military operational decision and playing weapon damage efficiency. In the traditional aiming point optimization problem, a target is mainly considered as a surface target to be considered, the difficult point is to solve the multivariable and multi-peak optimization problems under the complex conditions of irregular boundaries, multiple bombs, consideration of random errors of bomb explosion points and the like, provide a satisfactory solution and improve the calculation efficiency as much as possible.
The problem of target point optimization for a volumetric target is more complex. Taking the case that a missile (any weapon which is used for hitting an aiming point in a space) performs multi-directional three-dimensional hitting on a target from different heights and different directions, the following problems need to be considered and solved in an important way: 1) Geometric modeling of complex figure objects. Because the real target is often irregular, a geometric model of the body target which is close to the real scene and is beneficial to realizing space damage calculation is established, and the problem of engineering practicability is directly concerned; 2) The striking principle is different. Compared with plane damage, the three-dimensional striking needs to consider the attack direction and also needs to consider the problem of intersection and hit of the missile and the target, and the damage principle is more complex; 3) The calculation amount is large. Because the distribution of the aiming points is in space and then the attack direction is counted, the coordinate vector is increased to six dimensions (including 3 coordinate vectors and 3 direction vectors) from two dimensions under the condition of a plane, and the calculation amount of the corresponding aiming point optimization is increased in magnitude, the difficult problem of large calculation amount of the space aiming point optimization needs to be mainly solved.
In the existing body target aiming point optimization technology, a body target hitting probability calculation method is provided in missile-to-building target shooting hitting probability analysis (command control and simulation, volume 42, 4 th in 2020), but the method is only suitable for single-shot and ideal cubic targets and does not relate to aiming point optimization of multiple shots and complex targets; the simulation research on the damage efficiency of a shooting target as a body target (war institute, vol.27 No. 2 in 2006) provides a method for calculating a volume damage effect index, which is also only suitable for calculating the volume damage effect of a single-shot target, an ideal sphere, a cuboid and a cylinder target, and does not relate to the optimization of aiming points of multiple shots and complex targets; an aiming point selection method based on the function damage of a body target (warship and guidance bulletin, 30 nd vol.1 of 2010) provides a body target aiming point selection method, which considers the attack direction and the hit probability of a hit body target, but the attack direction is only used for determining a bullet-facing surface, the calculation of the hit probability is simplified, and the method is also only suitable for selecting aiming points of single bullets and does not consider the problem of aiming point optimization of multiple bullets. On the whole, the existing body target aiming point optimization calculation method can basically solve the problems of ideal geometric shape, no consideration of difference of attack direction angles, aiming point calculation under the condition of single shot, difficulty in meeting the practical application of a complex real scene, and further does not relate to solving the problem of large optimization calculation amount of space aiming points under the condition of multiple shots.
Therefore, the method for optimizing the aiming point of the multi-directional striking space aiming at the body target is a weapon striking research point.
Disclosure of Invention
The invention aims to provide a method for optimizing a multi-directional striking space aiming point of a body target, which can realize the quick optimization of the space aiming point with the largest volume damage effect and can be suitable for different targets with complex shapes when a missile with known missile quantity is used for carrying out multi-directional three-dimensional striking on the body target from a preset attacking direction.
In order to solve the problem of the background technology, the invention conception is as follows: in order to preferably select the space aiming point with the largest volume damage, based on the volume damage principle, the preferable aiming point is proposed according to three optimization criteria of high hit probability, deep position depth and the fact that the overlapping volume ratio reaches a specified value (which is converted into the fact that the minimum spacing distance between the aiming points is reached):
the hit probability refers to the intersection probability of the missile and the body target when the missile hits an aiming point in the space and the shooting error is considered; the position depth refers to the degree of the space aiming point penetrating into the center position of the body target when the space aiming point is hit by the missile; the degree of the spatial aiming point penetrating into the center of the body target along the attack direction; the overlap volume ratio refers to the number of missilesK>1, taking any two space aiming points as the center of a sphere and taking the damage radius of a missile as the spherical radius to form the overlapping volume ratio of two spheres;
1) The high hit probability is the premise that the hit is a damage under the condition of multi-directional hitting. Analyzing the multi-directional three-dimensional hitting mechanism of the missile, and being influenced by shooting errors, if the missile fails to hit the target, the missile cannot damage the target even if the damage radius of the missile is large, so that the problem of hit must be considered to ensure that the target is hit accurately in order to maximize the damage volume of the missile to the target; this is very different from planar damage with vertical strike from top to bottom, and no matter whether the missile directly hits the target or not, after projected on the ground, the damage effect can be calculated according to the overlapping area of the damage circle and the target area. Since the missile fire is random error, whether the hit target is a random event, and is therefore quantified by the hit probability.
The definition of the hit probability refers to the intersection probability of a missile and a body target when shooting errors are considered, and represents the probability of hitting the target when the missile hits an aiming point along a certain attack direction. Regarding the method for calculating the hit probability, the invention defines that the intersection point of the missile attack line and any boundary surface of the target is regarded as hit (consistent with a real physical scene) based on a polyhedral target model, establishes a space line and surface intersection judgment method based on parameters such as an aiming point coordinate vector, an attack direction vector, a surface normal vector and the like, and further obtains the hit probability by simulating the missile attack line for multiple times by using a normal distribution sampling simulation method under the condition of considering the standard deviation of three directions of the missile. Compared with the prior art, the method provided by the invention can be used for more truly restoring the spatial multidirectional striking scene, considering shooting errors, providing a clear definition and calculation method of the hitting probability, and being suitable for targets with any shapes.
2) "position depth" refers to the extent to which the targeted point penetrates deep into the target's center position in the direction of attack. When the target is hit along the same shooting line direction, under the condition of the same hit probability, the damage volume obtained by the explosion when the missile invades into the target is obviously larger than the damage volume obtained by the explosion on the surface, so that the 'deep position' is an effective means for further improving the volume damage effect on the basis of hitting. Based on the principle, the invention provides a concept of position depth under the condition of multi-directional striking volume damage, the definition of the position depth refers to the degree that an aiming point goes deep into the center position of a target in the direction of a missile attack line, a depth factor calculation model is established, and the aiming point closer to the center position of the target is further selected preferentially from the aiming points with similar hit probability, so that better volume damage effect is obtained.
3) The 'overlapping volume ratio is smaller than the designated value' means that under the condition of further considering multiple bullets, the interval distance between the aiming points is set, so that the multiple bullets can be scattered and not gathered when striking the multiple aiming points, the invalid overlapping of the damage areas among the multiple bullets is reduced, and the multi-bullet volume damage effect is improved. Therefore, the invention firstly utilizes an intersection volume formula of two balls to establish a functional relation between the damage overlap volume ratio and the aiming point distance (namely the ball center distance) under the condition of two missiles, thereby converting the constraint condition that the damage overlap volume ratio is less than a certain value into the constraint condition that the distance between the two aiming points is more than a certain value, and then under the condition of multiple missiles, the distance between any two aiming points is more than the constraint value, thereby limiting the damage area overlap volume ratio of the multiple missiles.
Therefore, the three criteria are used for optimizing the spatial aiming point, and the purposes of not only achieving accuracy but also achieving deep position and also achieving scattered and non-gathered under the condition of multiple bullets are achieved, so that a larger size damage effect is pursued. Therefore, a plurality of aiming points to be selected are dispersed in a body target space, and by utilizing three proposed judgment criteria, with a high hit probability, a deep position depth and a preferred sequence meeting the aiming point distance constraint, a bad solution and a best solution are rapidly filtered from a plurality of aiming points to be selected according to a certain preferred proportion, so that rapid optimization of the aiming points is realized without directly calculating the volume damage effect (large calculated amount).
The technical scheme of the invention is as follows:
a method for optimizing a target multi-directional hitting space aiming point of a body target is characterized in that the number of flying bullets, the attacking direction of the target hitting the body target by the flying bullets, the damage radius of the flying bullets and shooting errors are known, the optimized target of the space aiming point is the maximum damage volume, and the method comprises the following steps: for number of missilesKCase =1, using optimization criteria including high hit probability and deep location depth; for number of missilesK>1, using an optimization criterion comprising a high hit probability, a deep location depth, and an overlapping volume ratio less than a specified value; the hit probability refers to the intersection probability of the missile and the body target under the condition of considering shooting errors when the missile strikes a space aiming point; the position depth refers to the degree of the space aiming point penetrating into the center position of the body target; the overlap volume ratio refers to the number of missilesK>1, for any two space aiming points, respectively taking the space aiming point as the center of a sphere and the damage radius of a missile as the radius of the sphere, and forming the ratio of the volume of the overlapped part of the two spheres to the volume of one sphere; the optimization method of the space aiming point comprises the following steps:
the method comprises the following steps that firstly, a volume target is discretized into a plurality of grid units, the central point of each grid unit is used as an aiming point to be selected, and the space aiming point optimization problem is converted into the aiming point to be selected, which is selected from the aiming points to be selected and has the largest damage volume, and is used as the optimal space aiming point;
step two, according to the optimization criterion, the number of the missilesKCondition of =1, number of missilesK>1 the optimization steps are as follows:
for number of missilesKIn the case of =1, the missile strike is firstly screened outThe hit probability of the aiming point to be selected meets certain preferred conditions; then, screening out the sight point to be selected with the deepest position depth from the sight points to be selected with the hit probability meeting certain optimization conditions, and taking the sight point to be selected as an optimal space sight point;
for number of missilesK>1, screening out a target point to be selected, wherein the hit probability of the target point to be selected hit by the missile meets certain preferred conditions; then, screening out the sight points to be selected with the position depth meeting certain optimized conditions from the sight points to be selected with the hit probability meeting certain optimized conditions; then arbitrarily selecting the aiming point to be selected from the aiming points with the position depth meeting certain preferred conditionsKThe method comprises the steps that aiming points to be selected form an aiming point combination, and aiming point combinations with the overlapping volume ratio of any two aiming points to be selected in the aiming point combination smaller than a specified value are screened out in all aiming point combination modes; finally, the aiming point combinations with the overlapping volume ratio smaller than the designated value are screened outKAnd combining the aiming points with the largest sum of the hit probabilities of the aiming points to be selected as the optimal space aiming point.
Further, the hit probability is calculated by:
simulating the position of a bomb point when the bomb strikes the target point to be selected by using a normal distribution random sampling method, making a straight line passing through the bomb point along the attack direction of the target point to be selected by the bomb as an attack line, and judging whether the intersection point exists between the attack line and the boundary surface of the body target; if the boundary surface of the attack line and the body target has an intersection point, the missile is considered to hit the body target; if the boundary surface of the attack line and the body target does not have an intersection point, the missile is considered to miss the body target; simulating the positions of the bomb explosion points for many times, recording the hit times, and dividing the hit times by the total simulation times to obtain the hit probability of the bombs hitting the target point to be selected.
Further, the depth coefficient for position depth
Figure 209377DEST_PATH_IMAGE001
To express, depth coefficient
Figure 855079DEST_PATH_IMAGE001
The calculation method comprises the following steps:
making a straight line passing through a to-be-selected aiming point along the attack direction, taking the intersection point of the straight line entering the body target and the boundary surface of the body target as an entry point, and taking the intersection point of the straight line passing out of the body target and the boundary surface of the body target as a passing-out point; recording the distance from the entry point to the target point to be selected as
Figure 386815DEST_PATH_IMAGE002
Recording the distance from the through point to the target point to be selected as
Figure 448269DEST_PATH_IMAGE003
Then coefficient of depth
Figure 749381DEST_PATH_IMAGE001
Comprises the following steps:
Figure 425039DEST_PATH_IMAGE004
；
Figure 444071DEST_PATH_IMAGE005
the value range of (A) is as follows:
Figure 309216DEST_PATH_IMAGE006
；
Figure 807852DEST_PATH_IMAGE005
the larger the depth of the target, the deeper the target point is, i.e. the closer the target point to be selected is to the center of the target in the attack direction.
Further, the calculation method for the overlapping volume ratio being less than the specified value is: the overlapping volume ratio is less than the specified valuevThe distance converted into two space aiming points is larger than a certain valueD(ii) a WhereinvAndDthe relationship of (1) is:
Figure 592095DEST_PATH_IMAGE007
in the formula (I), the compound is shown in the specification,Ris the radius of the damage to the object,Dis the minimum separation distance.
Further, the method for determining the aiming point to be selected in the step one comprises the following steps:
step1, establishing a body target model
Establishing a three-dimensional rectangular coordinate system, describing a body target by a polyhedron, describing each face of the polyhedron by a polygon, describing each polygon by a plurality of contour points, and describing each contour point by the coordinates of the rectangular coordinate system
Figure 98423DEST_PATH_IMAGE008
Description is given;
step2, determining a target point set to be selected
Figure 688630DEST_PATH_IMAGE009
Step21, dividing the body space of the polyhedron into a plurality of grid units;
step22, taking the central point set of all grid cells as the target point set to be selected, and recording as the target point set
Figure 948572DEST_PATH_IMAGE009
，
Figure 624754DEST_PATH_IMAGE010
Is the number of targeted points to be selected.
Further, the method for calculating the hit probability of the missile hitting the target point to be selected is as follows:
step31, establishing the coordinate and the direction vector of the aiming point to be selected
The attack direction angle of the missile is set as
Figure 225236DEST_PATH_IMAGE011
And
Figure 41970DEST_PATH_IMAGE012
(ii) a Wherein
Figure 157609DEST_PATH_IMAGE013
Is aThe included angle between the vector of the attack direction and the positive direction of the Z axis;
Figure 96703DEST_PATH_IMAGE014
the included angle between the projection of the attack direction vector on the XY plane and the positive direction of the X axis is shown; the components of the attack direction vector in the directions of three coordinate axes of the rectangular coordinate system are as follows:
Figure 997530DEST_PATH_IMAGE015
rectangular coordinate of aiming point to be selected
Figure 742589DEST_PATH_IMAGE008
And direction vector
Figure 914257DEST_PATH_IMAGE016
Forming a six-dimensional coordinate vector of the sight point to be selected:
Figure 476783DEST_PATH_IMAGE017
；
step32, calculating the hit probability
Step321, considering the shooting error, setting the explosion point of the target struck by the missile to be in normal distribution, and the standard deviation of the dispersion in the x, y and z directions to be
Figure 117103DEST_PATH_IMAGE018
Sampling and simulating theoretical position coordinates of bomb explosion point by normal distribution formula, and recording as
Figure 790487DEST_PATH_IMAGE019
Then the six-dimensional coordinate vector of the simulated aiming point is recorded as
Figure 972728DEST_PATH_IMAGE020
；
Step322, explosion point coordinates for each simulation
Figure 581521DEST_PATH_IMAGE021
Make a pass-through point with a direction vector of
Figure 519257DEST_PATH_IMAGE022
Straight lines of (a) i.e. attack lines; then judging whether the boundary surface of the attack line and the body target has an intersection point or not in sequence; if the intersection exists, the target is regarded as a hit target; if the intersection point does not exist, the target is regarded as a miss target;
step323, performing multiple explosion point simulation, and recording the number of times of hitting the target
Figure 606119DEST_PATH_IMAGE023
Number of hits
Figure 939879DEST_PATH_IMAGE023
And total number of simulations
Figure 909454DEST_PATH_IMAGE024
As the hit probability of the missile hitting the target point to be selected
Figure 22902DEST_PATH_IMAGE025
I.e. by
Figure 664186DEST_PATH_IMAGE026
。
Further, the optimization step in the second step is:
and (3) executing the step (1) and the step (2) when the number of the missiles is 1:
step (1): setting hit probability preference criterion value
Figure 430807DEST_PATH_IMAGE027
Screening out the hit probability larger than the preferable criterion value as the preferable condition
Figure 381403DEST_PATH_IMAGE027
As the first set of target points to be selected
Figure 418365DEST_PATH_IMAGE028
And (3) executing the step (2):
step (2): calculating the first target sightPoint collections
Figure 174925DEST_PATH_IMAGE029
Depth coefficient of each target point to be selected
Figure 639986DEST_PATH_IMAGE001
Coefficient of depth
Figure 495903DEST_PATH_IMAGE001
The maximum sight point to be selected is used as an optimal space sight point;
and (3) executing the step (3), the step (4) and the step (5) after the step (1) is executed for the condition that the number of the missiles is more than 1:
and (3): setting position depth optimization criterion value
Figure 600255DEST_PATH_IMAGE030
As a preferred condition, the depth coefficient is selected
Figure 894927DEST_PATH_IMAGE001
Is greater than
Figure 964036DEST_PATH_IMAGE031
As a second set of aiming points to be selected
Figure 180735DEST_PATH_IMAGE032
；
And (4): from the second set of target points to be selected
Figure 129972DEST_PATH_IMAGE033
Zhongren Ji (middle-ren taking)KForming a aiming point combination at each aiming point to be selected, and combining all the aiming points to be selected
Figure 775805DEST_PATH_IMAGE034
The distance between any two target points to be selected in the medium screening aiming point combination is larger than the minimum spacing distanceDAiming point combination of (2);
and (5): aiming at all the aiming point combinations obtained in the step (4), respectively calculating aiming point combinationsInKAnd screening out the hit probability and the maximum aiming point combination to obtain the optimal space aiming point.
Further, the optimization step in the second step is:
and (3) executing the step (1) and the step (2) when the number of the missiles is 1:
step (1): setting hit probability screening proportion
Figure 402958DEST_PATH_IMAGE035
As a preferred condition, the ratio is screened according to the hit probability
Figure 750412DEST_PATH_IMAGE035
Screening the target point to be selected with high hit probability as a first target point set
Figure 150127DEST_PATH_IMAGE036
And (3) executing the step (2):
step (2): calculating a first set of target points to be selected
Figure 950984DEST_PATH_IMAGE036
Depth coefficient of each target point to be selected
Figure 939494DEST_PATH_IMAGE001
Coefficient of depth
Figure 425624DEST_PATH_IMAGE001
The maximum sight point to be selected is used as an optimal space sight point;
and (3) executing the step (3), the step (4) and the step (5) after the step (1) is executed for the condition that the number of the missiles is more than 1:
and (3): setting the depth coefficient screening proportion
Figure 374951DEST_PATH_IMAGE037
Screening the ratio according to the depth factor
Figure 713920DEST_PATH_IMAGE037
Screening the depth coefficient depthThe sight point to be selected is used as a second sight point set to be selected
Figure 855139DEST_PATH_IMAGE038
；
And (4): from the second set of target points to be selected
Figure 977807DEST_PATH_IMAGE039
Zhongren Ji (middle and optional taking)KForming a aiming point combination at each aiming point to be selected, and combining all the aiming points to be selected
Figure 102846DEST_PATH_IMAGE034
The distance between any two target points to be selected in the medium screening aiming point combination is larger than the minimum spacing distanceDAiming point combination of (1);
and (5): aiming at all the aiming point combinations obtained in the step (4), respectively calculating the aiming point combinationsKAnd screening out the hit probability and the maximum aiming point combination to obtain the optimal space aiming point.
Compared with the prior art, the method for optimizing the aiming point of the multi-directional hitting space of the body target has the following advantages:
(1) Based on the multi-directional shooting characteristics and the volume damage principle of the missile, a multi-criterion space aiming point optimization algorithm of hit probability, position depth and overlapping volume ratio is established under the condition of considering the shooting error factors of the missile, the traditional optimization method based on the damage effect is converted into the optimization method based on the criterion, and the calculation efficiency is greatly improved.
(2) As three criteria of the defined hit probability, the defined position depth and the defined overlap volume ratio are provided based on the multidirectional hitting characteristics and the volume damage principle, the hitting purposes of 'hitting accurately' and 'penetrating deeply' and 'scattering and non-gathering' under the condition of multiple bombs are achieved, aiming point optimization is carried out by using the criteria, and a satisfactory calculation result can be obtained under the condition that the calculation of a specific volume damage effect (long time consumption) is not needed.
(3) A multi-directional hitting space geometric model of the volume target based on polyhedron boundary surface contour points is established, so that on one hand, the modeling of the complex-shaped target is facilitated, and the engineering practicability is high; on the other hand, based on the model, calculation models such as the judgment of intersection conditions of a missile firing line and a target surface, depth factor calculation and the like are established, and the model is closer to a real multidirectional striking scene, so that the accurate calculation of the hit probability and the position depth criterion is realized.
Drawings
FIG. 1 is a flow chart of the spatial aiming point calculation of the present invention;
FIG. 2 is a schematic diagram of the definition of the spatial coordinate system and the geometric model of the polyhedral object according to the present invention;
FIG. 3 is a schematic diagram of grid cell division of an aiming point to be selected;
FIG. 4 is a schematic illustration of the intersection of a line of ballistic attack with a boundary surface of a volumetric target;
FIG. 5 is a schematic diagram of the direction angle and direction vector of a missile attack;
FIG. 6 is a schematic diagram of the relationship between the interior angle sum-law decision point and the polygon position;
FIG. 7 is a schematic diagram of a two-sphere intersection volume calculation method (shown in a two-dimensional plan view);
FIG. 8 is a plot of the overlap volume ratio of two intersecting balls as a function of aiming point distance for example 2;
FIG. 9 shows the result of the hit probability calculation for each target point to be selected (i.e., the center of the mesh) in example 3;
FIG. 10 is the mesh of the selected aiming points screened according to the hit probability P >90% in the embodiment 3;
FIG. 11 is the mesh of the selected aiming points screened according to the depth factor tau >50% in the embodiment 3;
FIG. 12 shows the optimization results of the single shot spatial aiming point described in example 3: (K=1）；
FIG. 13 shows the results of the optimization of the spatial aiming points of the two projectiles described in example 3 (K=2）；
FIG. 14 shows the result of optimizing the spatial aiming points of the two shots in example 3 (K=3）。
Detailed Description
The technical scheme of the invention is further specifically described with reference to the accompanying drawings and specific embodiments.
Example 1:
it is known that: striking a target by a certain number of missiles according to a certain attack direction, giving a damage radius and considering a shooting error;
solving: solving a space aiming point by taking the maximum size damage effect as an optimization target;
the optimization method comprises the following steps: as shown in fig. 1; an optimization criterion is provided: for number of missilesKCase =1, optimization criteria including high hit probability and deep location depth are used; for number of missilesK>1, using an optimization criterion comprising a high hit probability, a deep location depth, and an overlapping volume ratio less than a specified value; the method specifically comprises the following steps:
1. method for determining aiming point to be selected
Step1, establishing a body target model
As shown in FIG. 2, a three-dimensional rectangular coordinate system is established, and the volumetric object is described as a polyhedron, each boundary surface is described as a polygon, each polygon is described as a plurality of contour points, and each contour point is described as a coordinate of the rectangular coordinate system
Figure 649101DEST_PATH_IMAGE040
Description;
step2, determining a target point set to be selected
Figure 989034DEST_PATH_IMAGE041
Step21, making all the contour points of the target and making all the edges parallel tox、y、zA minimum circumscribed cuboid of the body target of the shaft;
step22, in turn, followsx、y、zDividing the minimum external cuboid into a plurality of grid units according to a certain step length in the direction;
step23, sequentially judging whether each grid unit is in the body target, eliminating the grid units which are not in the body target, taking the rest grid set as a target point set to be selected, and recording the target point set as a target point set to be selected
Figure 128551DEST_PATH_IMAGE041
，
Figure 990153DEST_PATH_IMAGE042
Is the number of targeted points to be selected. Fig. 3 illustrates a simple example of a polyhedron composed of two rectangular solids for convenience of drawing, and is applicable to virtually any polyhedron shape in the above manner.
2. Definition and calculation of hit probability according to criterion 1
Definition of hit probability: and under the condition of considering shooting errors, the probability that the missile meets the target when hitting the target according to a target point to be selected.
As shown in fig. 4, the method for calculating the hit probability of the missile hitting the target point to be selected includes: simulating the position of a bomb point when the bomb strikes an aiming point to be selected by using a normal distribution random sampling method, making a straight line passing through the bomb point along the attack direction as an attack line, and judging whether an intersection point exists between the attack line and a boundary surface of a body target; if the boundary surface of the attack line and the body target has an intersection point, the missile is considered to hit the body target; if the boundary surface of the attack line and the body target does not have an intersection point, the missile is considered to miss the body target; and simulating the positions of the bomb explosion points for multiple times, and dividing the hitting times by the total simulation times to obtain the hitting probability of the bombs hitting the target of the hitting body aiming at the target point to be selected. The following steps can be specifically performed:
step31, considering the attack direction angle, establishing the coordinate and the direction vector of the target point to be selected
As shown in FIG. 5, the attack direction angle of the missile is set to
Figure 795559DEST_PATH_IMAGE011
And
Figure 550851DEST_PATH_IMAGE012
(ii) a Wherein, the first and the second end of the pipe are connected with each other,
Figure 892702DEST_PATH_IMAGE013
the included angle between the vector of the attack direction and the positive direction of the Z axis is shown;
Figure 369164DEST_PATH_IMAGE043
projection of the attack direction vector on the XY plane is aligned with the X axisThe included angle of the direction; the components of the attack direction vector in the directions of three coordinate axes of the rectangular coordinate system are as follows:
Figure 273533DEST_PATH_IMAGE015
rectangular coordinate of aiming point to be selected
Figure 571747DEST_PATH_IMAGE008
And direction vector
Figure 348339DEST_PATH_IMAGE016
Forming a six-dimensional coordinate vector of a sight point to be selected:
Figure 944055DEST_PATH_IMAGE017
；
step32, calculating the hit probability
Step321, considering the shooting error, setting the explosion point of the target struck by the missile to be in normal distribution, and the standard deviation of the dispersion in the x, y and z directions to be
Figure 880875DEST_PATH_IMAGE018
Sampling and simulating theoretical position coordinates of bomb explosion point by normal distribution formula, and recording as
Figure 791454DEST_PATH_IMAGE019
Then the six-dimensional coordinate vector of the simulated aiming point is recorded as
Figure 293543DEST_PATH_IMAGE020
；
Step322, explosion point coordinates for each simulation
Figure 109633DEST_PATH_IMAGE021
Make a pass-through point with a direction vector of
Figure 974778DEST_PATH_IMAGE022
The straight line of (a), i.e., the attack line; then judging whether the boundary surface of the attack line and the body target has an intersection point or not in sequence; if there is a crossIf the point is a hit target, the target is regarded as a hit target; if the intersection point does not exist, the target is regarded as a miss target;
step323, performing multiple explosion point simulation, and recording the number of times of target hit
Figure 674617DEST_PATH_IMAGE023
Number of hits
Figure 537487DEST_PATH_IMAGE023
And total number of simulations
Figure 872307DEST_PATH_IMAGE024
As the hit probability of the missile striking the target point to be selected
Figure 275563DEST_PATH_IMAGE025
I.e. by
Figure 846220DEST_PATH_IMAGE026
。
Further, the method for judging whether the intersection point exists between the straight line and the boundary surface comprises the following two steps:
step A: calculating the intersection point of the straight line and the infinite plane of the boundary surface
Figure 888781DEST_PATH_IMAGE044
. Wherein, the coordinate vector of the explosion point for the straight line
Figure 16225DEST_PATH_IMAGE045
And direction vector
Figure 228238DEST_PATH_IMAGE046
Description; any point on the plane
Figure 600270DEST_PATH_IMAGE047
Normal vector to the surface
Figure 982709DEST_PATH_IMAGE048
Description (wherein
Figure 315558DEST_PATH_IMAGE047
Can be selected from the boundary surface contour points, the surface normal direction
Figure 912545DEST_PATH_IMAGE048
The method can be determined by arbitrarily selecting three points from contour points of the boundary surface, belongs to a space geometric universal method, and does not expand description), and then the intersection point coordinate is calculated by utilizing a space line and plane intersection point formula:
Figure 201401DEST_PATH_IMAGE049
wherein, L is the distance from the bomb explosion point to the intersection point of the line and the plane:
Figure 754741DEST_PATH_IMAGE050
and B, step B: it is further determined whether the intersection point is within the polygonal contour of the boundary surface. At this time, the intersection point and the boundary surface are coplanar, and the positional relationship between the point and the polygon is determined by the interior angle sum method, as shown in fig. 6 (a), if the point is inside the polygon, the sum of the included angles forming the vector by connecting with all the contour points in sequence is
Figure 574886DEST_PATH_IMAGE051
. Wherein, the vector included angle formed by connecting the point with two contour points on each side of the polygon can be calculated by a triangle cosine formula (fig. 6 (b)):
Figure 70108DEST_PATH_IMAGE052
3. criterion 2 definition and calculation of position depth
Definition of position depth: the degree to which the aiming point is deep into the center position of the target in the attack direction is indicated.
And (3) calculating the position depth: depth coefficient for position depth of target point to be selected
Figure 519119DEST_PATH_IMAGE001
To express, depth coefficient
Figure 252545DEST_PATH_IMAGE001
The calculation method comprises the following steps:
as shown in fig. 4, a straight line passing through the point to be selected is made along the attack direction, the intersection point of the straight line entering the body target and the boundary surface of the body target is taken as an entry point, and the intersection point of the straight line passing through the body target and the boundary surface of the body target is taken as a passing-out point; recording the distance from the entry point to the target point to be selected as
Figure 252599DEST_PATH_IMAGE002
Recording the distance from the through point to the target point to be selected as
Figure 27876DEST_PATH_IMAGE003
Coefficient of depth
Figure 687793DEST_PATH_IMAGE001
Comprises the following steps:
Figure 326541DEST_PATH_IMAGE053
Figure 754503DEST_PATH_IMAGE001
the value ranges are as follows:
Figure 894323DEST_PATH_IMAGE006
；
Figure 957956DEST_PATH_IMAGE001
the larger the depth of the position, the "deeper" the aiming point is, i.e. the closer the aiming point is to the center position of the body target in the direction of attack.
4. Criterion 3 definition and calculation of the overlap volume ratio
Definition of overlap volume ratio: the overlapping volume ratio refers to the number of the missilesK>1, for any two space aiming points, the space aiming point is taken as the center of sphere, and the damage radius of the missile is taken as the radius of the sphere to formThe ratio of the volume of the overlapped part of the two balls to the volume of one ball;
the calculation method for the overlapping volume ratio being less than the specified value is as follows: as shown in FIG. 7, the overlapping volume ratio is made smaller than the specified valuevThe distance converted into two space aiming points is larger than a certain valueD(ii) a WhereinvAnd withDThe relationship of (1) is:
Figure 846235DEST_PATH_IMAGE007
in the formula (I), the compound is shown in the specification,Ris the radius of the damage to the disc,Dis the minimum separation distance.
5. For the number of the flying projectiles being 1, the screening step of the optimal space aiming point is to execute the step (1) and the step (2)
Step (1): setting the hit probability preference criterion value
Figure 322345DEST_PATH_IMAGE027
Screening out the hit probability larger than the preferred criterion value as the preferred condition
Figure 518053DEST_PATH_IMAGE027
Aiming points to be selected; or setting a hit probability screening ratio
Figure 404760DEST_PATH_IMAGE035
As a preferred condition, the ratio is screened according to the hit probability
Figure 713207DEST_PATH_IMAGE035
Screening the target points to be selected with high hit probability as a first target point set to be selected
Figure 7439DEST_PATH_IMAGE028
Executing the step (2):
step (2): calculating a first set of target points to be selected
Figure 722018DEST_PATH_IMAGE029
Depth coefficient of each target point to be selected
Figure 307164DEST_PATH_IMAGE001
Coefficient of depth
Figure 786512DEST_PATH_IMAGE001
And taking the maximum aiming point to be selected as the optimal space aiming point.
6. For the number of the missiles larger than 1, the screening step of the optimal space aiming point is executed after the step (1) is executed, and then the steps (3), (4) and (5) are executed;
and (3): setting position depth optimization criterion value
Figure 925630DEST_PATH_IMAGE054
As a preferred condition, the depth coefficient is selected
Figure 633780DEST_PATH_IMAGE001
Is greater than
Figure 682030DEST_PATH_IMAGE055
As a second set of sight points to be selected
Figure 335209DEST_PATH_IMAGE032
(ii) a Or setting the depth coefficient screening proportion
Figure 568481DEST_PATH_IMAGE056
Screening the ratio according to the depth coefficient
Figure 283584DEST_PATH_IMAGE056
Screening the sight points to be selected with the depth coefficient deep as a second sight point set to be selected
Figure 217773DEST_PATH_IMAGE057
；
And (4): from the second set of target points to be selected
Figure 976607DEST_PATH_IMAGE033
Zhongren Ji (middle-ren taking)KForming a aiming point combination at each aiming point to be selected, and combining all the aiming points to be selected
Figure 824738DEST_PATH_IMAGE034
The distance between any two target points to be selected in the medium-screened aiming point combination is larger than the minimum spacing distanceDAiming point combination of (1);
and (5): aiming at all the aiming point combinations obtained in the step (4), respectively calculating aiming point combinationsKAnd screening out the hit probability and the maximum aiming point combination to obtain the optimal space aiming point.
Example 2:
in this embodiment, the overlapping volume ratio is made smaller than a prescribed valuevThe distance converted into two space aiming points is larger than a certain valueDThe principle of (c) is described. As shown in figure 7 of the drawings,Ris the radius of the damage to the object,Dis the distance of the aiming point (sphere center), and the shaded part is the volume of the intersection of two spheres
Figure 750057DEST_PATH_IMAGE058
The volume of a single ball is
Figure 87412DEST_PATH_IMAGE059
(ii) a From the definition of the overlap volume ratio:
Figure 17148DEST_PATH_IMAGE060
known from the formulavThe value ranges are as follows:
Figure 742788DEST_PATH_IMAGE061
； Dthe larger;vthe smaller; on the contrary, the method can be used for carrying out the following steps,Dthe smaller the number of the smaller the size of the product,vthe larger.
Specific examples are as follows: assuming that the damage radius of the missile to the target is R =30m, the volume of the overlapped part of the spherical damage areas of the two missiles is required to be not more than 30% of the volume of a single sphere, and the minimum distance between two aiming points is calculatedD。
Establishing the overlap volume ratio by using the intersection volume formula of two spheresvDistance from aiming pointDFunctional relationship of (a):
Figure 970333DEST_PATH_IMAGE062
according to the above formula, plan to makev-DA relationship curve, as shown in FIG. 8;
Figure 317712DEST_PATH_IMAGE063
corresponding on the curve
Figure 90453DEST_PATH_IMAGE064
。
Example 3:
in order to more clearly illustrate the technical scheme of the invention, the optimization process of the invention is shown by a specific example.
By utilizing the method for optimizing the aiming point of the multi-directional hitting space of the body target, the aiming point position of the missile hitting a certain command building target is calculated. As shown in fig. 3, the command building target is composed of a main building and an auxiliary building, wherein the main building is long x wide x high: 50m × 50m × 100m, secondary building: 50m is a typical high-low composite building with obvious space characteristics.
Firstly, a volume target model is established. The command building target is described by a polyhedron shown in fig. 3, and the XY direction is defined as a horizontal direction parallel to the ground, and the Z direction is defined as a vertical direction perpendicular to the ground. The target consisted of 7 sides and 2 tops and 2 bottoms in total.
And secondly, setting a target point set to be selected. Without loss of generality, the embodiment assumes that any part of the target can be attacked, and does not use the step length as
Figure 788543DEST_PATH_IMAGE065
The target is divided into the cubic grids at equal intervals, and the central point of each grid is set as a striking aiming point to be selected. As shown in FIG. 3, there are 375 hit target points to be selected in the command building, which are recorded as a set
Figure 318313DEST_PATH_IMAGE066
. Assuming that the attack direction angle is:
Figure 220807DEST_PATH_IMAGE067
(corresponding to a downward inclination
Figure 367711DEST_PATH_IMAGE068
Lateral deviation of
Figure 349835DEST_PATH_IMAGE069
). To facilitate subsequent calculations, the direction angle is converted to a direction vector:
Figure 810860DEST_PATH_IMAGE070
thirdly, calculating the hit probability of each target point hit by the missile
Figure 366337DEST_PATH_IMAGE071
. The bomb explosion points are assumed to follow a three-dimensional normal distribution, and the standard deviation of three directions is the same:
Figure 684143DEST_PATH_IMAGE072
. Simulating the position of the explosion point, and judging whether the straight line has an intersection point with a certain face of the polyhedron or not by taking the straight line which passes through the explosion point of the missile and is along the attack direction. If the straight line and any one surface of the polyhedron have an intersection point, the straight line and any one surface of the polyhedron are regarded as a hit target; and if no intersection point exists between the target and all the surfaces, the target is regarded as a miss target. Performing multiple explosion point simulation, recording the number of times of target hit, and counting the number of times of target hit
Figure 353895DEST_PATH_IMAGE073
And total number of simulations
Figure 415348DEST_PATH_IMAGE074
As the hit probability of the aiming point, i.e. the ratio of
Figure 279052DEST_PATH_IMAGE075
. Fig. 9 is a result of the hit probability calculation for each target point to be selected under the above calculation conditions.
Fourthly, calculating the depth coefficient of each sight point to be selected
Figure 855177DEST_PATH_IMAGE076
. As shown in fig. 4, a straight line passing through the target point to be selected is made along the attack direction, the intersection point of the straight line entering the body target and the boundary surface of the body target is used as an entry point, and the intersection point of the straight line passing through the body target and the boundary surface of the body target is used as a passing-out point; recording the distance from the entry point to the target point to be selected as
Figure 913088DEST_PATH_IMAGE077
Recording the distance from the through point to the target point to be selected as
Figure 536091DEST_PATH_IMAGE078
Coefficient of depth
Figure 995848DEST_PATH_IMAGE076
Comprises the following steps:
Figure 928482DEST_PATH_IMAGE079
and fifthly, aiming point optimization.
Case (1): a projectile in condition. The specific implementation steps are as follows:
step (1): to the collection
Figure 145794DEST_PATH_IMAGE080
According to the hit probability, the target point to be selected
Figure 838067DEST_PATH_IMAGE071
The sizes are rearranged from large to small;
step (2): from
Figure 27697DEST_PATH_IMAGE080
Taking out the target point to be selected which is 3% of the hit probability to form a better solution set
Figure 21719DEST_PATH_IMAGE081
，
Figure 867272DEST_PATH_IMAGE082
；
And (3): from
Figure 159974DEST_PATH_IMAGE083
And taking the aiming point to be selected with the maximum depth factor as the optimal solution of the aiming point under the condition of single shot. FIG. 12 is a graph of the optimal sighting point position, corresponding to the hit probability, for a single shot calculation
Figure 813897DEST_PATH_IMAGE084
Depth factor
Figure 148270DEST_PATH_IMAGE085
。
Case (2): two shots. Assuming that the number of aiming points is
Figure 340174DEST_PATH_IMAGE086
Solving according to the following steps:
step (1): setting a hit probability criterion
Figure 311933DEST_PATH_IMAGE087
Collecting the aiming points to be selected
Figure 958378DEST_PATH_IMAGE080
In (1)
Figure 44936DEST_PATH_IMAGE088
Filtering out the worse solution, as shown in fig. 10, the remaining candidate aiming points form a new candidate aiming point set, which is marked as
Figure 865081DEST_PATH_IMAGE089
；
Step (2): setting a position depth criterion
Figure 499586DEST_PATH_IMAGE090
Collecting the aiming points to be selected
Figure 266117DEST_PATH_IMAGE091
In
Figure 164247DEST_PATH_IMAGE092
The remaining aiming points to be selected form a new aiming point set to be selected, which is marked as fig. 11
Figure 965630DEST_PATH_IMAGE093
；
And (3): from a set of aiming points to be selected
Figure 927858DEST_PATH_IMAGE094
In selectionKThe target points to be selected form a combination, and the difference of each projectile is not considered, so that
Figure 886847DEST_PATH_IMAGE095
A combination mode is adopted;
and (4): setting a minimum separation distance criterionD=30.67, in
Figure 538978DEST_PATH_IMAGE096
In the to-be-selected aiming point combination, aiming at each combination, the solution which does not meet the constraint condition is filtered according to the following criteria:
Figure 44699DEST_PATH_IMAGE097
will be provided with
Figure 935251DEST_PATH_IMAGE098
After filtering, 1148 better solutions satisfying the constraint condition remain.
And (5): in 1148 better combinations of the sight points to be selected, the hit probability sum of each sight point to be selected is taken
Figure 76643DEST_PATH_IMAGE099
The largest group is used as the final solution of the aiming point.
The optimal aiming point positions of the two bullets are shown in FIG. 13, and the hit probabilities of the two bullets are respectively
Figure 27238DEST_PATH_IMAGE100
，
Figure 517600DEST_PATH_IMAGE101
。
Similarly, the optimization result of the aiming point of the three shots is also calculated, the positions of the aiming points are as shown in fig. 14, and the hit probabilities of the three shots are respectively:
Figure 87210DEST_PATH_IMAGE102
。
table 1 analyzes the effect of the present invention on the improvement of the calculation efficiency. In this embodiment, the number of the initial target points to be selected is given as
Figure 378381DEST_PATH_IMAGE103
Without any optimization, two bullets: (KNumber of total solution spaces of = 2) is
Figure 329239DEST_PATH_IMAGE104
Three bullets (III)KNumber of total solution spaces of = 3) is
Figure 619671DEST_PATH_IMAGE105
(ii) a By using the method provided by the invention, after screening by triple criteria, two bullets (KNumber of better solution spaces of = 2) is 1148, number of better solution spaces of three shots is 6500, and the solution space size is reduced by 61 times and 1341 times, respectively. Besides effectively reducing the size of the known space, the method is based on the criterion, and the size damage effect does not need to be calculated in the whole calculation process (the calculation effect is a very time-consuming process), so that the calculation amount is further reduced, and the optimization efficiency of the aiming point is greatly improved.
TABLE 1 promotion of computational efficiency
Figure 337180DEST_PATH_IMAGE107

Claims (8)

1. A method for optimizing a target multi-directional hitting space aiming point of a body target is characterized in that the number of flying bullets, the attacking direction of the target hitting the body target by the flying bullets, the damage radius of the flying bullets and shooting errors are known, the optimized target of the space aiming point is the maximum damage volume, and the method comprises the following steps: for number of missilesKCase =1, using optimization criteria including high hit probability and deep location depth; for number of missilesK>1, using an optimization criterion which comprises high hit probability, deep position depth and less overlapped volume ratio than a specified value, wherein the hit probability refers to the intersection probability of a missile and a body target under the condition of considering shooting errors when the missile strikes a space aiming point; the position depth refers to the degree of the space aiming point penetrating into the center position of the body target; the overlap volume ratio refers to the number of missilesK>1, for any two space aiming points, respectively taking the space aiming point as the center of a sphere and the damage radius of a missile as the radius of the sphere, and forming the ratio of the volume of the overlapped part of the two spheres to the volume of one sphere; the optimization method of the space aiming point comprises the following steps:
the method comprises the following steps that firstly, a volume target is discretized into a plurality of grid units, the central point of each grid unit is used as an aiming point to be selected, and the space aiming point optimization problem is converted into the aiming point to be selected, which is selected from the aiming points to be selected and has the largest damage volume, and is used as the optimal space aiming point;
step two, according to the optimization criterion, the number of the missilesKCondition of =1, number of missilesK>The optimization steps for the case of 1 are:
for number of missilesKIn the case of =1, firstly, the target point to be selected is screened out, wherein the hit probability of the missile hitting the target point to be selected meets certain preferred conditions; then, screening out the sight point to be selected with the deepest position depth from the sight points to be selected with the hit probability meeting certain optimization conditions, and taking the sight point to be selected as an optimal space sight point;
for number of missilesK>1, firstly screening out the target to be selected with the hit probability of the missile hitting the target to be selected meeting certain optimal conditionsSelecting an aiming point; then, screening out the sight points to be selected with the position depth meeting certain optimized conditions from the sight points to be selected with the hit probability meeting certain optimized conditions; then arbitrarily selecting the aiming point to be selected from the aiming points with the position depth meeting certain preferred conditionsKSelecting aiming point combinations with the overlapping volume ratio of any two aiming points to be selected smaller than a specified value in all the aiming point combination modes; finally, the aiming point combinations with the overlapping volume ratio smaller than the designated value are screened outKAnd combining the aiming points with the largest sum of the hit probabilities of the aiming points to be selected as the optimal space aiming point.
2. The method as claimed in claim 1, wherein the hit probability is calculated by:
simulating the position of a bomb point when the bomb strikes the target point to be selected by using a normal distribution random sampling method, making a straight line passing through the bomb point along the attack direction of the target point to be selected by the bomb as an attack line, and judging whether the intersection point exists between the attack line and the boundary surface of the body target; if the boundary surface of the attack line and the body target has an intersection point, the missile is considered to hit the body target; if the boundary surface of the attack line and the body target does not have an intersection point, the missile is considered to miss the body target; simulating the positions of the bomb explosion points for multiple times, recording the hit times, and dividing the hit times by the total simulation times to obtain the hit probability of the bombs hitting the target point to be selected.
3. The method as claimed in claim 1, wherein the depth of position is determined by a depth factor
Figure 409374DEST_PATH_IMAGE001
To represent the depth coefficient
Figure 169258DEST_PATH_IMAGE001
The calculation method comprises the following steps:
making a straight line passing through a to-be-selected aiming point along the attack direction, taking the intersection point of the straight line entering the body target and the boundary surface of the body target as an entry point, and taking the intersection point of the straight line passing through the body target and the boundary surface of the body target as a passing-out point; recording the distance from the entry point to the target point to be selected as
Figure 824361DEST_PATH_IMAGE002
Recording the distance from the through point to the target point to be selected as
Figure 688412DEST_PATH_IMAGE003
Coefficient of depth
Figure 876686DEST_PATH_IMAGE001
Comprises the following steps:
Figure 43356DEST_PATH_IMAGE004
Figure 277766DEST_PATH_IMAGE001
the value range of (A) is as follows:
Figure 820874DEST_PATH_IMAGE005
；
Figure 958594DEST_PATH_IMAGE006
the larger the position depth, the more "deep" the position depth is, namely, the closer the target point to be selected is to the central position of the body target in the attack direction.
4. The method as claimed in claim 1, wherein the calculation method for the overlapping volume ratio smaller than a specified value is: the overlapping volume ratio is less than the specified value
Figure 337578DEST_PATH_IMAGE007
Is converted into twoThe distance between the space aiming points is more than a certain value
Figure 436115DEST_PATH_IMAGE008
(ii) a Wherein
Figure 140504DEST_PATH_IMAGE007
And with
Figure 273676DEST_PATH_IMAGE008
The relationship of (1) is:
Figure 906783DEST_PATH_IMAGE009
in the formula (I), the compound is shown in the specification,Ris the radius of the damage to the disc,
Figure 991151DEST_PATH_IMAGE008
is the minimum separation distance.
5. The method for optimizing the aiming point of the multi-directional hitting space of the volumetric target as claimed in claim 1, wherein the method for determining the aiming point to be selected in the first step comprises:
step1, establishing a body target model
Establishing a three-dimensional rectangular coordinate system, describing a body object by a polyhedron, describing each face of the polyhedron by a polygon, describing each polygon by a plurality of contour points, and describing each contour point by the coordinate of the rectangular coordinate system
Figure 203958DEST_PATH_IMAGE010
Description;
step2, determining a target point set to be selected
Figure 785112DEST_PATH_IMAGE011
Step21, dividing the body space of the polyhedron into a plurality of grid units;
step22, using the central point set of all grid cells as the candidate selectionSet of aiming points, denoted
Figure 556496DEST_PATH_IMAGE011
，
Figure 223101DEST_PATH_IMAGE012
Is the number of targeted points to be selected.
6. The method for optimizing the aiming point of the multi-directional hitting space of the body target as claimed in claim 5, wherein the hit probability of the missile hitting the aiming point to be selected is calculated by:
step31, establishing the coordinate and the direction vector of the aiming point to be selected
The direction angle of the missile attack is set as
Figure 239599DEST_PATH_IMAGE013
And
Figure 675259DEST_PATH_IMAGE014
(ii) a Wherein
Figure 883124DEST_PATH_IMAGE015
The included angle between the vector of the attack direction and the positive direction of the Z axis is shown;
Figure 709129DEST_PATH_IMAGE016
the included angle between the projection of the attack direction vector on the XY plane and the positive direction of the X axis is shown; the components of the attack direction vector in the directions of three coordinate axes of the rectangular coordinate system are as follows:
Figure 529317DEST_PATH_IMAGE017
rectangular coordinate of aiming point to be selected
Figure 412960DEST_PATH_IMAGE010
And direction vector
Figure 791726DEST_PATH_IMAGE018
Forming a six-dimensional coordinate vector of the sight point to be selected:
Figure 167344DEST_PATH_IMAGE019
；
step32, calculating the hit probability
Step321, considering shooting errors, setting the explosion points of the target hit by the bombs to follow normal distribution, and the standard deviation of the dispersion in the x, y and z directions to be
Figure 525644DEST_PATH_IMAGE020
Sampling and simulating theoretical position coordinates of bomb explosion point by normal distribution formula, and recording as
Figure 935897DEST_PATH_IMAGE021
Then the six-dimensional coordinate vector of the simulated aiming point is recorded as
Figure 485565DEST_PATH_IMAGE022
；
Step322, explosion point coordinates for each simulation
Figure 348478DEST_PATH_IMAGE023
Make a pass-through point with a direction vector of
Figure 510469DEST_PATH_IMAGE024
The straight line of (a), i.e., the attack line; then judging whether the boundary surface of the attack line and the body target has an intersection point or not in sequence; if the intersection exists, the target is regarded as a hit target; if the intersection point does not exist, the target is regarded as a miss target;
step323, performing multiple explosion point simulation, and recording the number of times of target hit
Figure 509649DEST_PATH_IMAGE025
Number of hits
Figure 230219DEST_PATH_IMAGE025
And total number of simulations
Figure 580428DEST_PATH_IMAGE026
As the hit probability of the missile hitting the target point to be selected
Figure 546110DEST_PATH_IMAGE027
I.e. by
Figure 665376DEST_PATH_IMAGE028
。
7. The method as claimed in claim 6, wherein the optimization step in the second step is:
and (3) executing the step (1) and the step (2) when the number of the missiles is 1:
step (1): setting hit probability preference criterion value
Figure 771828DEST_PATH_IMAGE029
Screening out the hit probability larger than the preferred criterion value as the preferred condition
Figure 609334DEST_PATH_IMAGE029
As the first set of target points to be selected
Figure 378706DEST_PATH_IMAGE030
And (3) executing the step (2):
step (2): calculating a first set of target points to be selected
Figure 352479DEST_PATH_IMAGE030
Depth coefficient of each target point to be selected
Figure 149271DEST_PATH_IMAGE031
Coefficient of depth
Figure 474073DEST_PATH_IMAGE032
Taking the maximum aiming point to be selected as an optimal space aiming point;
and (3) executing the step (3), the step (4) and the step (5) after the step (1) is executed for the condition that the number of the flying projectiles is larger than 1:
and (3): setting position depth optimization criterion value
Figure 375033DEST_PATH_IMAGE033
As a preferable condition, the depth coefficient is selected
Figure 203312DEST_PATH_IMAGE031
Is greater than
Figure 938050DEST_PATH_IMAGE033
As a second set of aiming points to be selected
Figure 983104DEST_PATH_IMAGE034
；
And (4): from the second set of target points to be selected
Figure 94279DEST_PATH_IMAGE035
Zhongren Ji (middle-ren taking)KThe target points to be selected form a target point combination, and all target points to be selected are combined
Figure 42644DEST_PATH_IMAGE036
The distance between any two target points to be selected in the medium screening aiming point combination is larger than the minimum spacing distance
Figure 417124DEST_PATH_IMAGE008
Aiming point combination of (1);
and (5): aiming at all the aiming point combinations obtained in the step (4), respectively calculating aiming point combinationsKAnd screening out the hit probability and the maximum aiming point combination to obtain the optimal space aiming point.
8. The method as claimed in claim 6, wherein the optimization step in the second step is:
and (3) executing the steps (1) and (2) when the number of the missiles is 1:
step (1): setting hit probability screening proportion
Figure 949475DEST_PATH_IMAGE037
As a preferred condition, the proportion is screened according to the hit probability
Figure 598762DEST_PATH_IMAGE037
Screening the target points to be selected with high hit probability as a first target point set to be selected
Figure 401633DEST_PATH_IMAGE030
And (3) executing the step (2):
step (2): calculating a first set of target points to be selected
Figure 478173DEST_PATH_IMAGE030
Depth coefficient of each target point to be selected
Figure 497819DEST_PATH_IMAGE001
Coefficient of depth
Figure 685218DEST_PATH_IMAGE001
The maximum sight point to be selected is used as an optimal space sight point;
and (3) executing the step (3), the step (4) and the step (5) after the step (1) is executed for the condition that the number of the missiles is more than 1:
and (3): setting the depth coefficient screening proportion
Figure 608175DEST_PATH_IMAGE038
Screening the ratio according to the depth factor
Figure 855617DEST_PATH_IMAGE038
Screening the sight points to be selected with the depth coefficient as a second sight point set to be selected
Figure 628138DEST_PATH_IMAGE039
；
And (4): from the second set of target points to be selected
Figure 353649DEST_PATH_IMAGE035
Zhongren Ji (middle-ren taking)KThe target points to be selected form a target point combination, and all target points to be selected are combined
Figure 131112DEST_PATH_IMAGE036
The distance between any two target points to be selected in the medium screening aiming point combination is larger than the minimum spacing distance
Figure 549455DEST_PATH_IMAGE008
Aiming point combination of (2);
and (5): aiming at all the aiming point combinations obtained in the step (4), respectively calculating the aiming point combinationsKAnd screening out the combination of the hit probability and the maximum aiming point to obtain the optimal space aiming point.
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