CN116842736A - Route planning method based on particle targets - Google Patents
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Abstract
The application provides a route planning method based on particle targets, which comprises the following steps of S1: constructing a simulation map; step S2: presetting a plurality of route planning models according to a route mode; step S3: inputting parameters and selecting a corresponding route planning model; step S4: carrying out validity check on the parameters, if the check result is incorrect, feeding back an error instruction, and if the check result is incorrect, resolving and generating a platform route meeting the requirement; step S5: and displaying the platform routes meeting the requirements in a simulation map and storing the platform routes in a local route file. The application can automatically generate the platform route meeting the combat requirement. According to the application, the motion characteristic calculation of more than 200 batches of motion platforms can be completed only by one executable program and a single desk computer, the calculated amount is small, and the real-time performance is satisfied; the motion platform simulation realized by the method can meet the requirement of a radar electronic war simulation system on motion characteristic calculation of the motion platform.
Description
Technical Field
The application relates to the technical field of electronic countermeasure simulation, in particular to a particle target-based route planning and motion state resolving method.
Background
In radar electronic countermeasure system simulation, constructing a countermeasure scene close to an actual countermeasure environment is a first step of verifying radar electronic countermeasure tactics and equipment performance. The construction of the electronic countermeasure scene, namely construction of a countermeasure tactic meeting the combat requirement, wherein the application of the tactic determines the distribution position of the radar on the platform and radar reconnaissance countermeasure equipment and the characteristics of the radiation signals, and determines the state of the radar reconnaissance countermeasure electromagnetic signal environment. The state of the electromagnetic signal environment changes with the change of tactical background, what kind of tactical background will produce what kind of electromagnetic environment. Therefore, the core of the simulation construction of the radar electronic countermeasure system is the setting and generation of a simulation tactical background, and how to set and generate a typical simulation tactical background related to the combat action of the radar electronic countermeasure system is the basis of the generation of a simulation electromagnetic signal environment. The simulation countermeasure scene is reasonably edited, and the generation result of the simulation electromagnetic signal environment consisting of the simulation radar radiation signal and the simulation non-radar radiation signal is directly determined by generating a proper simulation tactical background.
In the simulated countermeasure scene, countermeasure background elements and countermeasure progress requirements are included, electronic countermeasure composition and weapon deployment are completed according to the countermeasure background elements, and track planning of a countermeasure unit action route is completed according to the countermeasure progress requirements; in the simulation process, according to the deployed weapon forces and the fight unit route information, the output of fight unit movement attitude information is realized, and fight information resolving is provided for each device in the radar electronic fight simulation system.
At present, the following modes are mainly adopted for planning the course of a combat scene in a simulation system: obtaining a route key point in a map point-taking mode, describing the running speed or running time in the route section, and forming the route by a series of key route sections; the method is simple in construction scenes, but cannot be designed for typical airlines, such as circular airlines, elliptical airlines, splayed airlines, complex combined airlines and the like;
the motion characteristic simulation modeling of the motion platform mainly adopts the following modes: modeling the platform in 6 degrees of freedom, modeling a planned route by adopting a motion equation in a straight-line leg, and guiding and modeling by adopting a proportional guiding method when the platform moves from one leg to the other leg; and carrying out dynamic modeling on the platform, and realizing control and motion characteristic generation of the platform by adopting a calculus method through dynamic calculation according to the dynamic characteristics of the planned route and the platform. For the two modeling methods, the main disadvantage is that the calculation amount is large, the motion calculation of a large number of platforms can not be realized through one executable program, and the requirement on calculation resources is relatively high.
Disclosure of Invention
Aiming at the defects in the prior art, the application aims to provide a route planning method based on particle targets.
The application provides a route planning method based on particle targets, which comprises the following steps:
step S1: constructing a simulation map;
step S2: presetting a plurality of route planning models according to a route mode;
step S3: inputting parameters and selecting a corresponding route planning model;
step S4: carrying out validity check on the parameters, if the check result is incorrect, feeding back an error instruction, and if the check result is incorrect, resolving and generating a platform route meeting the requirement;
step S5: and displaying the platform routes meeting the requirements in a simulation map and storing the platform routes in a local route file.
Preferably, the route means includes a straight route, an arc route, and a combined route formed by combining the straight route and the arc route.
Preferably, the types of parameters entered by the different routings models are different.
Preferably, the input parameter mode includes a map click or pop-up input dialog box.
Preferably, the input parameter types include any one or more of the following: the navigation section starting point coordinates, the navigation section ending point coordinates, the navigation section navigation speed, the navigation section navigation acceleration, the minimum turning radius, the circle center coordinates, the turning radius, the round dot entering coordinates, the round dot exiting coordinates, the navigation speed, the movement mode, the elliptical left circle center coordinates, the elliptical right circle center coordinates, the elliptical point entering coordinates, the elliptical point exiting coordinates, the splayed navigation left circle center coordinates, the splayed navigation left turning radius, the splayed navigation right circle center coordinates, the splayed navigation right turning radius, the splayed navigation point entering coordinates and the splayed navigation point exiting coordinates.
Preferably, the parameters of the validity check include any one or more of the following: minimum turning radius, minimum flight speed, maximum cruise altitude, maximum climb angle, maximum descent angle, minimum roll angle.
Preferably, the method further comprises step S6: the step S6 of calculating the motion characteristics of the platform includes:
step S601: initializing motion simulation and generating a platform motion characteristic calculation and parameter correspondence table;
step S602: initializing initial position points and motion postures of each platform;
step S603: after the simulation starts, according to the position of the platform at the last moment and the type of the navigation section of the current platform, the current motion gesture of the platform is calculated in real time,
step S604: in the simulation process, judging when to start or stop the calculation of the platform motion gesture according to the platform starting time, the expected ending time and the total motion time of the platform route in the route planning;
step S605: after the simulation is finished, the generated various platform route object data are subjected to deconstructing treatment.
Preferably, in step S603, the leg where the platform is located mainly includes a straight leg and an arc leg, where:
for the linear navigation section, according to the position of the platform, the simulation step length, the motion heading and the motion speed at the last moment, the current position of the platform is calculated through a planar linear calculation and integration mode;
for the arc navigation section, according to the position of the platform, the simulation step length, the turning radius and the turning angular velocity at the last moment, the current position of the platform is calculated through a plane arc calculation and integration formula;
preferably, the type of the navigation section where the platform is located is judged and given according to the navigation distance of the platform, the distance of each navigation section in the total navigation path and the serial number.
Compared with the prior art, the application has the following beneficial effects:
1. when the application is used for manufacturing a combat scene, key points and movement modes can be input through a map point selection or interface input mode, and a platform route meeting combat requirements can be automatically generated.
2. According to the application, the motion characteristic calculation of more than 200 batches of motion platforms can be completed only by one executable program and a single desk computer, the calculated amount is small, and the real-time performance is satisfied;
3. the motion platform simulation realized by the method can meet the requirement of a radar electronic war simulation system on motion characteristic calculation of the motion platform.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the steps of a particle target based routing method.
FIG. 2 is a schematic illustration of a solution for turning between two legs.
Fig. 3 is a schematic illustration of a climbing process.
Fig. 4 is a schematic view of a degradation process.
FIG. 5 is a schematic diagram of free route planning and display.
FIG. 6 is a schematic diagram of a circular route planning and display effect.
FIG. 7 is a schematic diagram of an elliptical route planning and display effect.
FIG. 8 is a schematic diagram of splay route planning and display.
Detailed Description
The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.
As shown in fig. 1 to 8, the application provides a particle target-based route planning method, which can plan typical tracks in advance, quickly generate platform motion characteristics in a simulation process and meet the requirements of radar electronic countermeasure simulation system on the functions and performances of platform simulation.
Further detailed, the present application provides a particle target-based route planning method, comprising: constructing a simulation map, and presetting a plurality of route planning models according to a route mode; inputting parameters and selecting a corresponding route planning model; carrying out validity check on the parameters, if the check result is incorrect, feeding back an error instruction, and if the check result is incorrect, resolving and generating a platform route meeting the requirement; and displaying the platform routes meeting the requirements in a simulation map and storing the platform routes in a local route file.
Specifically, firstly, a simulation map is constructed, and a plurality of route planning models are preset, wherein the route planning models comprise a straight route, a circular route, an elliptic route and the like. After the navigation route is planned, selecting a corresponding navigation route according to the requirement, inputting parameters, popping up an input dialog box, selecting a movement mode in the dialog box, and clicking or manually filling the key parameters of the navigation section in the map according to the movement mode.
(1) If, for the free-way mode, only the horizontal movement of two adjacent voyages in the same horizontal plane or the vertical movement in the same vertical plane are considered, specifically:
the method comprises the steps of selecting a free route, and filling all the leg parameters in the leg parameters, wherein the leg parameters comprise a leg starting point coordinate, a leg ending point coordinate, a leg sailing speed, a leg sailing acceleration and a minimum turning radius.
The method comprises the steps of carrying out validity check on the parameters of the navigation path, and carrying out parameter check on the motion characteristics of the platform, wherein the parameter check comprises minimum turning radius, minimum flight speed, maximum cruising height, maximum climbing angle, maximum descending angle, minimum rolling angle and the like.
For horizontal movement, according to the input parameters, the turning radius required by transition between the navigation sections is calculated, and the specific turning process is shown in fig. 2.
For vertical movement, according to the input parameters, resolving turning, climbing or descending required by the platform to enter a horizontal flight leg from one leg to another leg, and changing turning radius, climbing or descending required by climbing or descending to enter the horizontal flight leg; the specific ascent/descent procedure is shown in fig. 3/4.
For transition between the navigation sections, resolving in a tangent mode of arc and straight line, namely connecting the first navigation section and the second navigation section to form a space triangle, calculating the circle center and radius of an inscribed circle of the space triangle, and finding out a transition arc from the first navigation section to the second navigation section, wherein the tangent point is an in-round point and an out-round point;
and connecting the end point of the first leg with the start point of the second leg to form two triangles for the leg which is sent to change on the vertical plane, and respectively solving the circle centers and the radiuses of the inscribed circles of the two triangles to find out two transition circular arcs and a straight-line leg from the first leg to the second leg.
(2) If the same movement height mode is considered for the circular navigation mode, the following specific steps are as follows:
selecting a circular navigation way, and filling key navigation section parameters in the navigation section parameters, wherein the key navigation section parameters comprise circle center coordinates, turning radius, round point in coordinates, round point out coordinates, navigation speed and movement modes (clockwise and anticlockwise);
performing the course validity check, wherein the patent performs parameter check aiming at the platform motion characteristics including minimum turning radius, minimum flying speed, maximum cruising height, minimum rolling angle and the like;
according to the input parameters and the motion mode, solving straight line segment parameters from the round entering point to the round channel, and solving straight line segment parameters from the round channel to the round exiting point;
and solving the straight line sections of the entering circle and the exiting circle in a tangent mode of the circular arc and the straight line, namely calculating the tangent point from one point outside the circle to the circle according to the clockwise entering/exiting circle or the anticlockwise entering/exiting circle, and forming the straight line navigation section of the entering circle or the exiting circle. For example, as shown in fig. 2, AB and CD are straight-line segments for entering and exiting a circle, and circle O is a circular route, and when the center coordinates, turning radius, entering and exiting coordinates, navigation speed, and movement mode are determined, the route can be automatically generated.
(3) If the same motion height mode is considered for the elliptical navigation mode, the following specific steps are as follows:
selecting an air way as an elliptical air way, and filling key air way parameters in the air way parameters, wherein the key air way parameters comprise an elliptical left circle center coordinate, an elliptical left turning radius, an elliptical right circle center coordinate, an elliptical right turning radius, an elliptical point entering coordinate, an elliptical point exiting coordinate, an air speed and a movement mode (clockwise and anticlockwise);
performing the course validity check, and performing parameter check aiming at platform motion characteristics including minimum turning radius, minimum flight speed, maximum cruising height, minimum roll angle and the like;
according to the input parameters and the motion mode, solving the straight-line segment parameters from the elliptical navigation path to the elliptical navigation path, and solving the straight-line segment parameters from the elliptical navigation path to the elliptical navigation point;
for the straight line sections of the input ellipse and the output ellipse, resolving in a tangent mode of the circular arc section in the elliptical navigation path and the straight line, namely calculating the tangent point from one point outside the ellipse to the circular arc of the ellipse according to the clockwise input/output ellipse or the anticlockwise input/output ellipse, and forming the straight line navigation section of the input ellipse or the output ellipse.
(4) If the splay way mode is aimed at, only the same movement height mode is considered, specifically:
the method comprises the steps of selecting a splayed road, and filling key road parameters in the road parameters, wherein the key road parameters comprise splayed road left circle center coordinates, splayed road left turning radius, splayed road right circle center coordinates, splayed road right turning radius, splayed road point coordinates, navigation speed and movement modes (clockwise and anticlockwise);
performing the course validity check, and performing parameter check aiming at platform motion characteristics including minimum turning radius, minimum flight speed, maximum cruising height, minimum roll angle and the like;
according to the input parameters and the motion mode, calculating straight line segment parameters of the splayed route from the splayed route entering point and straight line segment parameters of the splayed route reaching the splayed route exiting point;
for the straight line segments of the splayed-in route and the splayed-out route, resolving in a tangent mode of an arc segment in the splayed-in route and a straight line, namely calculating the tangent point from one point outside the splayed-in route to the arc of the splayed-in route according to the clockwise splayed-in route or the anticlockwise splayed-in route, and forming the straight line segment of the splayed-in route or the splayed-out route.
It should be noted that if the parameter validity check is wrong, an error instruction is fed back, if the check result is wrong, a platform route meeting the requirements is calculated and generated, and the platform route meeting the requirements is displayed in a simulation map and stored in a local route file. Fig. 5-8 illustrate different types of routings and display effect diagrams.
Further, the application also comprises a calculation for the motion characteristics of the platform, which specifically comprises the following steps:
step 1: and initializing simulation, namely initializing all motion platform parameters in a scene by a motion platform simulation executable program, generating a platform motion characteristic calculation and parameter correspondence table, and initializing initial position points and motion postures of each platform.
After the simulation starts, according to the position of the platform at the previous moment and the type of the current platform navigation section, the current motion gesture of the platform is calculated in real time, and the navigation section of the platform mainly comprises a linear navigation section and an arc navigation section. Specifically, for a straight line navigation section, the current platform position can be calculated according to the planar straight line calculation and the integral mode by calculating the integral mode, namely knowing the platform position, the simulation step length (differential sampling step length), the motion heading and the motion speed at the last moment. For the arc navigation segment, the current platform position can be calculated according to the planar arc calculation and the integral formula by means of integral calculation, namely, the last moment platform position, the simulation step length (differential sampling step length), the turning radius and the turning angular velocity are known.
Judging the type of the navigation section of the platform, and judging and giving the navigation section according to the navigation distance of the platform, the distance of each navigation section in the total navigation path and the serial number.
In the simulation process, judging when to start or stop the platform motion attitude calculation according to the platform starting time, the expected ending time and the total motion time of the platform route in the route planning. After the simulation is finished, the generated various platform route object data are subjected to deconstructing treatment.
The application is mainly used for solving the planning design of the moving target wanted scene countermeasure route in the simulation system, constructing a typical countermeasure situation, providing a planning route for the motion platform simulation, and is an important data source for generating the dynamic platform inertial navigation data by the motion platform simulation. According to the application, a particle motion model is adopted, the types of the airlines are selected according to the manual map point selection or interface input mode, the planning and calculation of the airlines in different airlines are automatically realized, and compared with the traditional modeling aiming at the dynamic model of the motion platform, the simulation parameter setting requirement is greatly reduced, the time spent by personnel in constructing the countermeasure situation is saved, and meanwhile, the second-order motion model is adopted, so that the real-time generation of a plurality of target motion inertial navigation data can be realized on a single common computer, and important platform motion data is provided for dynamic countermeasure scenes.
Those skilled in the art will appreciate that the application provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the application can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (9)
1. A route planning method based on particle targets is characterized by comprising the following steps:
step S1: constructing a simulation map;
step S2: presetting a plurality of route planning models according to a route mode;
step S3: inputting parameters and selecting a corresponding route planning model;
step S4: carrying out validity check on the parameters, if the check result is incorrect, feeding back an error instruction, and if the check result is incorrect, resolving and generating a platform route meeting the requirement;
step S5: and displaying the platform routes meeting the requirements in a simulation map and storing the platform routes in a local route file.
2. The particle target based routing method of claim 1, wherein the routing pattern includes a straight route, an arc route, and a composite route that is a combination of the straight route and the arc route.
3. The particle target based routing method of claim 2, wherein in step S3, different routing models input different types of parameters.
4. The particle target based routing method of claim 1, wherein in step S3, the input parameter means comprises a map dot or pop-up input dialog.
5. The particle target based routing method of claim 1, wherein the input parameter types include any one or more of: the navigation section starting point coordinates, the navigation section ending point coordinates, the navigation section navigation speed, the navigation section navigation acceleration, the minimum turning radius, the circle center coordinates, the turning radius, the round dot entering coordinates, the round dot exiting coordinates, the navigation speed, the movement mode, the elliptical left circle center coordinates, the elliptical right circle center coordinates, the elliptical point entering coordinates, the elliptical point exiting coordinates, the splayed navigation left circle center coordinates, the splayed navigation left turning radius, the splayed navigation right circle center coordinates, the splayed navigation right turning radius, the splayed navigation point entering coordinates and the splayed navigation point exiting coordinates.
6. The particle target based routing method of claim 1, wherein the parameters of the validity check include any one or more of: minimum turning radius, minimum flight speed, maximum cruise altitude, maximum climb angle, maximum descent angle, minimum roll angle.
7. The particle target based routing method of claim 1, further comprising step S6: the step S6 of calculating the motion characteristics of the platform includes:
step S601: initializing motion simulation and generating a platform motion characteristic calculation and parameter correspondence table;
step S602: initializing initial position points and motion postures of each platform;
step S603: after the simulation starts, according to the position of the platform at the last moment and the type of the navigation section of the current platform, the current motion gesture of the platform is calculated in real time,
step S604: in the simulation process, judging when to start or stop the calculation of the platform motion gesture according to the platform starting time, the expected ending time and the total motion time of the platform route in the route planning;
step S605: after the simulation is finished, the generated various platform route object data are subjected to deconstructing treatment.
8. The particle target-based route planning method of claim 7, wherein in step S603, the leg on which the platform is located mainly comprises a straight leg and a circular arc leg, wherein:
for the linear navigation section, according to the position of the platform, the simulation step length, the motion heading and the motion speed at the last moment, the current position of the platform is calculated through a planar linear calculation and integration mode;
and for the arc navigation section, according to the position of the platform, the simulation step length, the turning radius and the turning angular velocity at the last moment, calculating the current position of the platform through a plane arc calculation and integration formula.
9. The particle target-based route planning method of claim 7, wherein the type of leg the platform is based on a determination of a distance traveled by the platform, a distance of each leg in the total route, and a sequence number.
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