CN116931519A - Collaborative planning and scheduling method for multi-source heterogeneous sensor - Google Patents
Collaborative planning and scheduling method for multi-source heterogeneous sensor Download PDFInfo
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Abstract
The invention discloses a collaborative planning scheduling method of a multi-source heterogeneous sensor, which comprises a schedulable sensor resource management unit, a sensor resource management unit and a control platform, wherein the schedulable sensor resource management unit is used for uploading the tracking area range of the tracked target acquisition target movement to the comprehensive induction and control platform when the multi-source heterogeneous sensor performs collaborative task planning and optimal scheduling; calculating historical area environmental states and established task plans uploaded by the multi-source heterogeneous sensors, which meet the sensor allocation scheme and the flight route of the unmanned aerial vehicle, in a schedulable sensor resource management unit; and evaluating the environmental threat of the tracked target by using a given mission plan meeting the sensor allocation scheme and the flight route of the unmanned aerial vehicle, and uploading the tracking area range and the search area data acquired by the tracked target to the schedulable sensor resource management unit. The invention can ensure the working efficiency of the sensor, avoid the waste of sensor resources and improve the balance of the sensor resource allocation.
Description
Technical Field
The invention relates to the field of scheduling of multi-source heterogeneous sensors, in particular to a collaborative planning scheduling method of the multi-source heterogeneous sensors.
Background
The traditional manner in which the operation of a multi-source heterogeneous sensor system is manually controlled requires the automatic/semi-automatic configuration and scheduling of multi-source heterogeneous sensor resources using sensor management techniques. The multi-source heterogeneous sensor scheduling is used as an important research branch of a sensor management technology, can plan sensor resources in real time in time and space to complete allocated tasks, and has important guiding significance for information decision.
Collaborative task planning and optimal scheduling are carried out on multisource heterogeneous sensors of the air unmanned aerial vehicle, and moving targets which are difficult to master are required to be verified to different degrees. The collaborative task planning and optimal scheduling of the multi-source heterogeneous sensors of the air unmanned aerial vehicle and the like comprise the following contents: 1) Defining tasks, including task types, task areas, completion time and the like; 2) Regional state analysis, including environmental threat, target threat, performance assessment, situation prediction; 3) Planning a task; according to the constraint conditions set by the established tasks and with the combination of the evaluation data, a distribution scheme of maximum benefits of the multi-source heterogeneous sensor and an aerial unmanned aerial vehicle flight route are calculated at the minimum cost, but in the existing technical scheme, a unified sensor coordination scheduling scheme is not formed, so that the problems of unbalanced sensor resource distribution and low working efficiency are caused when target tracking is carried out.
Disclosure of Invention
The invention aims to overcome the defects that the existing moving target tracking task control technology needs to judge an obstacle avoidance line Sr through the target tracking loss condition, so that the safety risk of a moving target is increased, the service life and economy of related elements of a search system are adversely affected, and the search effect is too dependent on the accuracy of sensing devices such as a target recognition rate sensor and the like.
The invention solves the technical problems by the following technical proposal:
the invention provides a collaborative planning and scheduling method of a multi-source heterogeneous sensor, which comprises the following steps:
the method comprises the steps that a tracked target acquires a tracking area range Kx of target movement when a multi-source heterogeneous sensor performs collaborative task planning and optimal scheduling, and the acquired tracking area range Kx is uploaded to a comprehensive sensing and control platform, wherein the comprehensive sensing and control platform comprises a schedulable sensor resource management unit of the target movement, and the schedulable sensor resource management unit stores a historical area environment state V and a set task planning D uploaded when the multi-source heterogeneous sensor performs tracking tasks on the target movement;
calculating the historical area environment state V and the established task plan D uploaded by the multi-source heterogeneous sensor, which meet a sensor allocation scheme and an aerial unmanned aerial vehicle flight route, in the schedulable sensor resource management unit, wherein the sensor allocation scheme and the aerial unmanned aerial vehicle flight route are defined as an obstacle avoidance line Sry displayed by the historical area environment state V and an obstacle avoidance line Sri reflected by the tracking area range Kx are the same, and the environmental influence factor of the historical area environment state V meets a preset obstacle avoidance line Sra adjustment range Rc;
and carrying out modeling evaluation on the environmental threat of the tracked target by utilizing the established mission plan D meeting the sensor allocation scheme and the flying route of the unmanned aerial vehicle, and uploading the tracking area range Kx and search area data Hg acquired by the tracked target to the schedulable sensor resource management unit.
According to an embodiment of the present invention, the schedulable sensor resource management unit further stores a sensor resource change rule Nc tracked from the historical area environment state V based on a preset sensor resource change rule unscented kalman filtering algorithm model, where the sensor resource change rule Nc includes a sensor tracking time Tu, sensor performance evaluation data Qw, and a scheduling efficiency Pm of a sensor.
The unscented Kalman filtering algorithm model of the sensor resource change rule has the expression:
wherein ,and representing the distribution coefficient of the environmental state types in the history area.
According to one embodiment of the invention, the step of calculating the historical area environmental state V and the given mission plan D satisfying the sensor allocation scheme and the aerial drone flight route comprises:
identifying a sensor resource change rule Nc contained in the tracking area range Kx by using the unscented Kalman filtering algorithm model of the sensor resource change rule;
and calculating the historical regional environment state V and the established task plan D which meet the sensor allocation scheme and the flight route of the unmanned aerial vehicle in the schedulable sensor resource management unit by utilizing the comparison of the sensor resource change rule Nc and environmental influence factors.
According to one embodiment of the present invention, the method further comprises the step of forming the schedulable sensor resource management unit, the step of forming the schedulable sensor resource management unit comprising:
dividing the historical regional environment state V stored in the schedulable sensor resource management unit into different regional environment safety levels by utilizing the sensor resource change rule Nc; and, in addition, the processing unit,
the step of calculating the historical regional environmental status V and the given mission plan D that satisfy the sensor allocation scheme and the aerial drone flight route further includes:
determining the area security level range to which the tracking area range Kx belongs by utilizing a sensor resource change rule Nc contained in the tracking area range Kx;
the historical area environmental state V and the given mission plan D, which are the same as the area safety level range of the tracking area range Kx and in which environmental influence factors do not exceed the obstacle avoidance line Sr adjustment range Rc, are calculated in the schedulable sensor resource management unit.
According to one embodiment of the present invention, the different area environment safety levels relate to obstacle avoidance lines Sr of the set sensor nominal tracking target in different tracking environments.
According to one embodiment of the invention, the different area environment safety levels relate to target moving speeds or target tracking area under different tracking environments.
According to one embodiment of the present invention, the given mission plan D includes estimating the number of tracking targets.
According to one embodiment of the present invention, the given mission plan D further includes an operation mode of the multi-source heterogeneous sensor, establishment of a tracking model, boundary condition setting during tracking, and a target recognition rate.
According to one embodiment of the invention, the method further comprises:
and when the historical area environment state V and the established task plan D which meet the sensor allocation scheme and the flight route of the unmanned aerial vehicle cannot be calculated in the schedulable sensor resource management unit, starting an intelligent search management mode to evaluate the environmental threat of the tracked target, and uploading the tracking area range Kx and search area data Hg acquired by the tracked target to the schedulable sensor resource management unit.
According to one embodiment of the invention, the method further comprises:
and calculating the target recognition rate of the tracked target, judging whether the tracked target has a target tracking loss condition according to the target recognition rate, and starting an intelligent search management mode to evaluate the environmental threat of the tracked target when the target tracking loss condition occurs.
According to one embodiment of the invention, the schedulable sensor resource management unit is built on a remote Beidou cloud control center, the remote Beidou cloud control center performs the steps of calculating the historical area environment state V and the established mission plan D which meet the sensor allocation scheme and the aerial unmanned aerial vehicle flight route, and then the established mission plan D which meet the sensor allocation scheme and the aerial unmanned aerial vehicle flight route is sent to a search management system of the tracked target, so that the search management system evaluates the environment threat build model.
The environmental threat establishment model of the tracked target is evaluated, and the expression is:
wherein ,JD Represents an environmental threat safety index, S represents an environmental controllable coefficient, i represents an adjustable deployment number of the multi-source heterogeneous sensor, d represents a total number of the multi-source heterogeneous sensors,the achievable degree of a given task plan is represented, and sigma, lambda and xi represent influence factors of obstacle avoidance lines under different conditions.
The invention also provides a collaborative planning and scheduling system of the multi-source heterogeneous sensor, which comprises the following steps:
the comprehensive induction and control platform is provided with a schedulable sensor resource management unit for target movement, and the schedulable sensor resource management unit stores a historical area environment state V and a set task plan D which are uploaded when the multi-source heterogeneous sensor executes a tracking task on the target movement;
the tracking area range Kx determining unit is used for acquiring the tracking area range Kx of the target movement during the process that the moving target is in the multi-source heterogeneous sensor for collaborative task planning and optimal scheduling;
the mobile target searching area information acquisition unit is used for acquiring searching area data Hg when the mobile target performs a tracking task on the target movement;
the mobile target data transmission unit is used for acquiring the tracking area range Kx and the search area data Hg and uploading the tracking area range Kx and the search area data Hg to the comprehensive induction and control platform;
a sensor resource allocation unit for calculating, in the schedulable sensor resource management unit, the history area environmental state V and the given mission plan D uploaded by the multisource heterogeneous sensor satisfying a sensor allocation scheme and an aerial unmanned aerial vehicle flight route, and transmitting the sensor allocation scheme and the aerial unmanned aerial vehicle flight route to a search control unit, wherein the sensor allocation scheme and the aerial unmanned aerial vehicle flight route are defined as an obstacle avoidance line Sry displayed by the history area environmental state V and an obstacle avoidance line Sri reflected by the tracking area range Kx are the same, and environmental influence factors of the history area environmental state V satisfy a preset obstacle avoidance line Sra adjustment range Rc;
and the environmental threat assessment unit is used for assessing an environmental threat establishment model of a moving target when the multisource heterogeneous sensor performs collaborative mission planning and optimal scheduling by using the established mission plan D meeting the sensor allocation scheme and the flight route of the unmanned aerial vehicle.
According to one embodiment of the invention, the sensor resource allocation unit is arranged on the integrated induction and control platform or the sensor resource allocation unit is mounted on a moving object.
According to one embodiment of the present invention, the tracking area range Kx determining unit is a sonic detector mounted on the mobile unmanned aerial vehicle.
According to one embodiment of the present invention, the mobile object search control unit is further configured to initiate an intelligent search management mode to evaluate an environmental threat of the mobile object when the sensor resource allocation unit fails to calculate the historical regional environmental state V and the given mission plan D that satisfy the sensor allocation scheme and the flight route of the aerial unmanned aerial vehicle.
According to one embodiment of the invention, the system further comprises:
a moving target recognition rate unit for measuring a target recognition rate of the moving target;
the mobile target search control unit is further used for acquiring the target recognition rate measured by the target recognition rate sensor, judging whether the mobile target has a target tracking loss condition according to the target recognition rate, and starting an intelligent search management mode to evaluate the environmental threat of the mobile target when the target tracking loss condition occurs.
On the basis of meeting the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.
The beneficial effects are that:
according to the collaborative planning scheduling method of the multi-source heterogeneous sensor, the active monitoring of tracking tasks and environmental threats can be realized by identifying the sensor resources during the search of the moving target, meanwhile, the environmental state V of a history area and the established task plan D are calculated, the monitoring resources of the multi-source heterogeneous transmitter are reasonably scheduled, the controllability of the tracked target is ensured, the allocation scheme of the maximum profit and the flight route of the aerial unmanned aerial vehicle are completed by calculating the multi-source heterogeneous sensor at the minimum cost, the working efficiency of the sensor is ensured, the waste of the sensor resources is avoided, and the balance of the sensor resource allocation is improved.
Drawings
FIG. 1 is a schematic flow chart of a method of the present invention;
FIG. 2 is a second flow chart of the method of the present invention;
FIG. 3 is a third flow chart of the method of the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings, is given by way of illustration and not limitation, and any other similar situations are intended to fall within the scope of the invention.
In the following detailed description, directional terms, such as "left", "right", "upper", "lower", "front", "rear", etc., are used with reference to the directions described in the drawings. The components of embodiments of the present invention can be positioned in a number of different orientations and the directional terminology is used for purposes of illustration and is in no way limiting.
According to the method based on the sensor resource identification technology in the preferred embodiment of the invention, the environment threat is actively controlled based on the identified obstacle avoidance line Sr by generally identifying the moving state of the target, so that the active control of the environment threat of the moving target is realized at least to a certain extent.
As shown in fig. 1, the collaborative planning scheduling method of the multi-source heterogeneous sensor includes the following steps:
step A1: a schedulable sensor resource management unit for target movement is established on a comprehensive induction and control platform, and the schedulable sensor resource management unit stores a historical area environment state V and a given task plan D which are uploaded when a moving target executes a tracking task on the target movement;
step A2: the tracked target acquires a tracking area range Kx of the target movement when the multisource heterogeneous sensor performs collaborative task planning and optimal scheduling, and uploads the acquired tracking area range Kx to the comprehensive induction and control platform;
step A3: calculating the historical regional environmental state V and the established mission plan D uploaded by the multi-source heterogeneous sensor, which meet a sensor allocation scheme and an aerial unmanned aerial vehicle flight route, in the schedulable sensor resource management unit;
the sensor allocation scheme and the flying route of the aerial unmanned aerial vehicle are defined as that an obstacle avoidance line Sry displayed by the historical area environment state V is identical to an obstacle avoidance line Sri reflected by the tracking area range Kx, and the environmental influence factors of the historical area environment state V meet the preset adjustment range Rc of the obstacle avoidance line Sra;
step A4: and evaluating an environmental threat modeling model of the tracked target by using the established mission plan D meeting the sensor allocation scheme and the flying route of the unmanned aerial vehicle, and uploading the tracking area range Kx and search area data Hg acquired by the tracked target to the schedulable sensor resource management unit.
The environmental threat of the tracked target is evaluated by establishing a model, and the expression is as follows:
wherein ,JD Represents an environmental threat safety index, S represents an environmental controllable coefficient, i represents an adjustable deployment number of the multi-source heterogeneous sensor, d represents a total number of the multi-source heterogeneous sensors,the achievable degree of a given task plan is represented, and sigma, lambda and xi represent influence factors of obstacle avoidance lines under different conditions.
It should be understood that this step of establishing a schedulable sensor resource management unit in the embodiments described herein is only for easier reading and understanding of embodiments of the method, and is not limiting to performing this step of establishing a schedulable sensor resource management unit for each execution of the method. In fact, it is easy to understand that, generally, after the schedulable sensor resource management unit of the target movement is established, only the stored related data and information need to be updated and generally processed for a quite long time, and this man-machine interaction control end does not need to be established again. In other words, for each moving target that is at, near, or about to enter a stage of collaborative mission planning and optimal scheduling by the heterogeneous sensors, the method will perform the steps after the schedulable sensor resource management unit that creates the target movement.
Wherein, can gather by the sound wave detector who installs in the mobile unmanned aerial vehicle fuselage tracking area scope Kx. For example, the sonde may include a communication device or signal emitting device for uploading sensor resource data (e.g., via wireless signals) to the schedulable sensor resource management unit, for example, the sonde may be mounted at the main tail or other suitable location of the body, as long as the location facilitates acquisition of multi-source heterogeneous sensor resource data. The multi-source heterogeneous sensor resource data can be sent to the man-machine interaction control end by a communication device or a signal transmitting device.
It should be understood that an example of the comprehensive sensing and control platform is referred to herein as a remote beidou cloud control center, where the remote beidou cloud control center may be built at a ground base station at a suitable location of an airport, and the remote beidou cloud control center may have a larger storage space and have a processing capability of complex sensor resource data, and the comprehensive sensing and control platform may process data collected by multiple sensors such as visible light, infrared, laser, radar, and the like. Therefore, the collected mass sensor resource data can be processed into corresponding obstacle avoidance line Sr information according to a preset algorithm, and the system has the functions of transmitting and receiving signals or data.
In an embodiment employing a remote Beidou cloud control center, the schedulable sensor resource management unit may be established on the remote Beidou cloud control center, and the remote Beidou cloud control center performs the steps of calculating the historical area environment state V and the established task plan D which meet the sensor allocation scheme and the flight route of the aerial unmanned aerial vehicle, and then sends the established task plan D which meet the sensor allocation scheme and the flight route of the aerial unmanned aerial vehicle to a search management system of the tracked target, so that the search management system evaluates an environment threat establishment model. An advantage of this embodiment is that most algorithms that require extensive computation will be focused on the ground in the remote Beidou cloud control center, with reduced burden on the on-board search control unit and associated on-board systems. Of course, it will be appreciated that it is equally feasible that part of the data processing is performed by an on-board search control unit without the need for a cloud processing platform, and that such a solution relatively reduces the intermediate links (e.g., data communication processes) of identifying and controlling environmental threats using information related to multi-source heterogeneous sensor resource data, which may be advantageous in some aspects to improve processing efficiency and reliability of active control of searches.
It should be understood that the sensor allocation scheme and the flight path of the aerial unmanned aerial vehicle actually include conditions of two aspects, namely, the multi-source heterogeneous sensor resource data determined based on the identification of the multi-source heterogeneous sensor resource data is identical or similar to a certain extent, which means that the obstacle avoidance line Sri reflected by the historical area environment state V is identical to the obstacle avoidance line Sri reflected by the tracking area range Kx, and the environmental influence factor of the historical area environment state V satisfies the preset obstacle avoidance line Sra adjustment range Rc.
For example, whether the data uploaded by the multi-source heterogeneous sensor meets the sensor allocation scheme and the flight route of the aerial unmanned aerial vehicle is judged, namely whether the environmental influence factor or the generation time of the data of the multi-source heterogeneous sensor exceeds a certain obstacle avoidance line Sr adjustment range Rc is judged first, if the environmental influence factor or the generation time of the data of the multi-source heterogeneous sensor exceeds a certain obstacle avoidance line Sr adjustment range Rc, the data of the multi-source heterogeneous sensor is considered to be invalid, if the data of the obstacle avoidance line Sr is not exceeded, the data of the multi-source heterogeneous sensor is considered to be invalid if the data of the obstacle avoidance line Sr is considered to be changed, if the data of the obstacle avoidance line Sr is considered to be the same as before, the data from the multi-source heterogeneous sensor is considered to be valid, and the environmental threat of the tracked object can be actively controlled further based on the data of the multi-source heterogeneous sensor.
It should also be appreciated that the obstacle avoidance line Sr referred to herein may include a plurality of preset or predefined regional safety level ranges for distinguishing set sensor nominal tracking targets for various target movements that are distinguished for search control, such as setting sensor nominal tracking targets according to a wind level table, and also distinguishing target movement speeds or target tracking area under different tracking environments, which may be distinguished by some sensor resource change law Nc of the heterogeneous sensor resource data. The method is characterized in that the obstacle avoidance lines Sri reflected by the multi-source heterogeneous sensor resource data are the same, which can be the same as the obstacle avoidance lines Sri reflected by the multi-source heterogeneous sensor resource data in the previous description, and can be the result of processing analysis of a preset sensor resource processing or recognition algorithm or a characteristic unscented Kalman filtering algorithm model, and the obtained result is that the environmental state V of a certain historical area and the tracking area Kx reflect that the acquired target movement belongs to the same predefined area safety level range, namely, the target movement sensor is the same as the target movement sensor, or the target movement speed or the target tracking area are the same as the target movement speed or the target tracking area on the basis that the rated sensor tracking targets are the same.
Based on the above consideration, according to some preferred embodiments of the present invention, the schedulable sensor resource management unit further stores a sensor resource change rule Nc tracked from the historical area environment state V based on a preset sensor resource change rule kalman filter algorithm model, where the sensor resource change rule Nc includes a sensor tracking time Tu, sensor performance evaluation data Qw, and a scheduling efficiency Pm of a sensor.
The unscented Kalman filtering algorithm model of the sensor resource change rule has the expression:
wherein ,and representing the distribution coefficient of the environmental state types in the history area.
More specifically, the sensor tracking time Tu and the sensor performance evaluation data Qw and the scheduling efficiency Pm of the sensor may refer to visual features related to the moving time, the moving speed feature, the sensor work efficiency and the sensor failure rate of the target movement, or the sensor tracking time Tu and the sensor performance evaluation data Qw and the scheduling efficiency Pm of the sensor, which can be tracked by the unscented kalman filter algorithm model based on the sensor resource variation rule, can reflect the moving time, the moving speed feature, the sensor work efficiency and the sensor failure rate of the target movement.
As shown in fig. 2, wherein preferably, in the above method, the step of calculating the historical area environmental state V and the given mission plan D satisfying the sensor allocation scheme and the flying route of the aerial unmanned includes:
step B1: identifying a sensor resource change rule Nc contained in the tracking area range Kx by using the unscented Kalman filtering algorithm model of the sensor resource change rule;
step B2: and calculating the historical regional environment state V and the established task plan D which meet the sensor allocation scheme and the flight route of the unmanned aerial vehicle in the schedulable sensor resource management unit by utilizing the comparison of the sensor resource change rule Nc and environmental influence factors.
Wherein the step of establishing a schedulable sensor resource management unit for the target movement further comprises:
dividing the historical regional environment state V stored in the schedulable sensor resource management unit into different regional environment safety levels by utilizing the sensor resource change rule Nc;
as shown in fig. 3, the step of calculating the historical regional environmental status V and the given mission plan D that satisfy the sensor allocation scheme and the aerial drone flight route further includes:
step C1: determining the area security level range to which the tracking area range Kx belongs by utilizing a sensor resource change rule Nc contained in the tracking area range Kx;
step C2: the historical area environmental state V and the given mission plan D, which are the same as the area safety level range of the tracking area range Kx and in which environmental influence factors do not exceed the obstacle avoidance line Sr adjustment range Rc, are calculated in the schedulable sensor resource management unit.
According to some preferred embodiments of the invention, the given mission plan D includes a pre-estimated number of tracked objects. Preferably, the given mission plan D further includes an operation mode of the multi-source heterogeneous sensor, establishment of a tracking model, boundary condition setting during tracking, and a target recognition rate. In some embodiments, the above method may be applied or incorporated into existing tracking task control methods, such as methods that passively control environmental threats based on boundary condition settings at the time of tracking.
The intelligent search management mode is referred to as a "normal search mode", that is, an existing search mode that can be adopted when the active search control method based on the multi-source heterogeneous sensor resource data identification described above fails, and typically may be an intelligent search management mode that evaluates environmental threats based on boundary condition settings at the time of tracking, for example.
According to some preferred embodiments of the invention, the method further comprises the steps of:
and when the historical area environment state V and the established task plan D which meet the sensor allocation scheme and the flight route of the unmanned aerial vehicle cannot be calculated in the schedulable sensor resource management unit, starting an intelligent search management mode to evaluate the environmental threat of the tracked target, and uploading the tracking area range Kx and search area data Hg acquired by the tracked target to the schedulable sensor resource management unit.
According to some preferred embodiments of the invention, the method further comprises the steps of:
and calculating the target recognition rate of the tracked target, judging whether the tracked target has a target tracking loss condition according to the target recognition rate, and starting an intelligent search management mode to evaluate the environmental threat of the tracked target when the target tracking loss condition occurs.
It should be understood that the tracked objects referred to above may generally refer to moving objects that have entered the search phase.
According to some preferred embodiments of the present invention, a collaborative planning scheduling system for multi-source heterogeneous sensors may also be provided. The mobile target tracking task control system can comprise a comprehensive sensing and control platform with a schedulable sensor resource management unit for target movement, wherein the schedulable sensor resource management unit stores a historical area environment state V and a set task plan D uploaded when a multi-source heterogeneous sensor executes a tracking task on the target movement, and can also comprise a plurality of parts installed on the mobile target, including a sensor resource acquisition sensor, a search area data Hg acquisition unit, an information transmission unit and a search control unit.
The sensor resource acquisition sensor is used for acquiring a tracking area range Kx of target movement during the period that the moving target is in the multi-source heterogeneous sensor for collaborative task planning and optimal scheduling. The search area data Hg collecting unit is used for collecting search area data Hg when the moving target performs a tracking task on the target movement. The information transmission unit is used for acquiring the tracking area range Kx and the search area data Hg and uploading the tracking area range Kx and the search area data Hg to the comprehensive induction and control platform.
The moving target tracking task control system may further include a sensor resource allocation unit for calculating the historical region environmental state V and the established task plan D uploaded by the multi-source heterogeneous sensor satisfying a sensor allocation scheme and an aerial unmanned aerial vehicle flight route in the schedulable sensor resource management unit, and transmitting the sensor allocation scheme and the aerial unmanned aerial vehicle flight route to the search control unit, wherein the sensor allocation scheme and the aerial unmanned aerial vehicle flight route are defined such that an obstacle avoidance line Sry displayed by the historical region environmental state V and an obstacle avoidance line Sri reflected by the tracking region range Kx are the same, and an environmental influence factor of the historical region environmental state V satisfies a preset obstacle avoidance line Sra adjustment range Rc.
On the basis, the search control unit on the moving target can acquire the established mission plan D meeting the sensor allocation scheme and the flight route of the aerial unmanned aerial vehicle and evaluate an environmental threat establishment model of the moving target when the multi-source heterogeneous sensor performs collaborative mission planning and optimal scheduling based on the information.
According to some preferred embodiments of the invention, the sensor resource allocation unit is arranged on the integrated induction and control platform or the sensor resource allocation unit is mounted on a moving object.
According to some preferred embodiments of the invention, the tracking area range Kx determining unit is a sonic probe mounted to the mobile unmanned aerial vehicle.
According to some preferred embodiments of the present invention, the mobile object search control unit is further configured to initiate an intelligent search management mode to evaluate environmental threats of the mobile object when the sensor resource allocation unit fails to calculate the historical regional environmental status V and the given mission plan D satisfying the sensor allocation scheme and the aerial unmanned flight route.
According to some preferred embodiments of the invention, the system further comprises:
a moving target recognition rate unit for measuring a target recognition rate of the moving target;
the mobile target search control unit is further used for acquiring the target recognition rate measured by the target recognition rate sensor, judging whether the mobile target has a target tracking loss condition according to the target recognition rate, and starting an intelligent search management mode to evaluate the environmental threat of the mobile target when the target tracking loss condition occurs.
It will be appreciated by those skilled in the art that the moving object tracking task control system based on the sensor resource identification technique according to the preferred embodiment described above has technical advantages that reference is made to the foregoing description of the method, and that some preferred arrangements of the control method described in the foregoing are not mentioned when describing the moving object tracking task control system herein, mainly considering that the relevant preferred arrangements may be incorporated into the moving object tracking task control system in a substantially similar manner and may achieve similar preferred effects, and thus will not be described in detail herein.
According to the collaborative planning scheduling method of the multi-source heterogeneous sensor, the active monitoring of tracking tasks and environmental threats can be realized by identifying the sensor resources during the search of the moving target, meanwhile, the environmental state V of a history area and the established task plan D are calculated, the monitoring resources of the multi-source heterogeneous transmitter are reasonably scheduled, the controllability of the tracked target is ensured, the allocation scheme of the maximum profit and the flight route of the aerial unmanned aerial vehicle are completed by calculating the multi-source heterogeneous sensor at the minimum cost, the working efficiency of the sensor is ensured, the waste of the sensor resources is avoided, and the balance of the sensor resource allocation is improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (9)
1. The collaborative planning and scheduling method for the multi-source heterogeneous sensor is characterized by comprising the following steps of:
collecting a tracking area range Kx of target movement of a tracked target when the multi-source heterogeneous sensor performs collaborative task planning and optimal scheduling, and uploading the obtained tracking area range Kx to a comprehensive sensing and control platform;
the comprehensive sensing and control platform comprises a schedulable sensor resource management unit for the target movement, wherein the schedulable sensor resource management unit stores a historical area environment state V and a set task plan D which are uploaded when a multi-source heterogeneous sensor executes a tracking task on the target movement;
calculating the historical area environment state V and the established task plan D uploaded by the multi-source heterogeneous sensor, which meet a sensor allocation scheme and an aerial unmanned aerial vehicle flight route, in the schedulable sensor resource management unit, wherein the sensor allocation scheme and the aerial unmanned aerial vehicle flight route are defined as an obstacle avoidance line Sry displayed by the historical area environment state V and an obstacle avoidance line Sri reflected by the tracking area range Kx are the same, and the environmental influence factor of the historical area environment state V meets a preset obstacle avoidance line Sra adjustment range Rc;
evaluating an environmental threat modeling model of the tracked target by utilizing the established mission plan D meeting the sensor allocation scheme and the flying route of the aerial unmanned aerial vehicle, and uploading the tracking area range Kx and search area data Hg acquired by the tracked target to the schedulable sensor resource management unit;
the environmental threat establishment model of the tracked target is evaluated, and the expression is:
wherein ,JD Represents an environmental threat safety index, S represents an environmental controllable coefficient, i represents an adjustable deployment number of the multi-source heterogeneous sensor, d represents a total number of the multi-source heterogeneous sensors,the achievable degree of a given task plan is represented, and sigma, lambda and xi represent influence factors of obstacle avoidance lines under different conditions.
2. The collaborative planning scheduling method of a multi-source heterogeneous sensor according to claim 1, wherein the schedulable sensor resource management unit further stores a sensor resource change law Nc tracked from the historical regional environmental state V based on a preset sensor resource change law unscented kalman filter algorithm model, the sensor resource change law Nc including a sensor tracking time Tu, sensor efficiency evaluation data Qw and a scheduling efficiency Pm of a sensor;
the unscented Kalman filtering algorithm model of the sensor resource change rule has the expression:
wherein ,and representing the distribution coefficient of the environmental state types in the history area.
3. The collaborative planning scheduling method of multi-source heterogeneous sensors of claim 2, wherein the step of calculating the historical regional environmental state V and the given mission plan D that satisfy the sensor allocation scheme and aerial drone flight route comprises:
identifying a sensor resource change rule Nc contained in the tracking area range Kx by using the unscented Kalman filtering algorithm model of the sensor resource change rule;
and calculating the historical regional environment state V and the established task plan D which meet the sensor allocation scheme and the flight route of the unmanned aerial vehicle in the schedulable sensor resource management unit by utilizing the comparison of the sensor resource change rule Nc and environmental influence factors.
4. The collaborative planning scheduling method of a multi-source heterogeneous sensor of claim 3, further comprising the step of forming the schedulable sensor resource management unit, the step of forming the schedulable sensor resource management unit comprising:
dividing the historical regional environment state V stored in the schedulable sensor resource management unit into different regional environment safety levels by utilizing the sensor resource change rule Nc;
the step of calculating the historical regional environmental status V and the given mission plan D that satisfy the sensor allocation scheme and the aerial drone flight route further includes:
determining the area security level range to which the tracking area range Kx belongs by utilizing a sensor resource change rule Nc contained in the tracking area range Kx;
the historical area environmental state V and the given mission plan D, which are the same as the area safety level range of the tracking area range Kx and in which environmental influence factors do not exceed the obstacle avoidance line Sr adjustment range Rc, are calculated in the schedulable sensor resource management unit.
5. The collaborative planning scheduling method of a multi-source heterogeneous sensor according to claim 4, wherein the different regional environmental security levels relate to obstacle avoidance lines Sr setting sensor nominal tracking targets in different tracking environments;
the different regional environment safety levels relate to target moving speeds or target tracking regional areas under different tracking environments.
6. The collaborative planning scheduling method for a multi-source heterogeneous sensor of claim 1, wherein the given mission plan D includes a number of pre-estimated tracking targets;
the established mission plan D also comprises a working mode of the multi-source heterogeneous sensor, establishment of a tracking model, boundary condition setting during tracking and target recognition rate.
7. The collaborative planning scheduling method of a multi-source heterogeneous sensor of claim 1, further comprising:
and when the historical area environment state V and the established task plan D which meet the sensor allocation scheme and the flight route of the unmanned aerial vehicle cannot be calculated in the schedulable sensor resource management unit, starting an intelligent search management mode to evaluate the environmental threat of the tracked target, and uploading the tracking area range Kx and search area data Hg acquired by the tracked target to the schedulable sensor resource management unit.
8. The collaborative planning scheduling method of a multi-source heterogeneous sensor of claim 1, further comprising:
and calculating the target recognition rate of the tracked target, judging whether the tracked target has a target tracking loss condition according to the target recognition rate, and starting an intelligent search management mode to evaluate the environmental threat of the tracked target when the target tracking loss condition occurs.
9. The collaborative planning scheduling method of a multi-source heterogeneous sensor according to claim 1, wherein the schedulable sensor resource management unit is established on a remote Beidou cloud control center, and the step of calculating the historical regional environmental state V and the established mission plan D satisfying the sensor allocation scheme and the aerial unmanned flight route is performed by the remote Beidou cloud control center, and then the established mission plan D satisfying the sensor allocation scheme and the aerial unmanned flight route is transmitted to a search management system of the tracked object, so that the environmental threat is evaluated by the search management system.
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