CN117130391A - Unmanned aerial vehicle task planning method and equipment based on software definition - Google Patents
Unmanned aerial vehicle task planning method and equipment based on software definition Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a unmanned aerial vehicle mission planning method and equipment. The technical scheme is that the unmanned aerial vehicle mission planning method based on software definition is disclosed, the mission planning method adopts a flight mode and a flight phase to define a mission execution state of the unmanned aerial vehicle, the flight mode comprises an autonomous piloting mode and an autonomous accompanying mode, and the flight phase comprises a data binding phase, an initial flight phase, a scout planning phase, a scout phase, a delivery planning phase and a delivery phase; and the flight phases are subjected to phase state transition through phase transition conditions. The invention adopts the flight mode, the flight stage and the stage transfer condition to define the task form, and injects the online reconnaissance task and the delivery task planning algorithm, thereby realizing the execution capacity of the multifunctional complex task of the unmanned aerial vehicle in a software form.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a unmanned aerial vehicle mission planning method and equipment.
Background
As the unmanned aerial vehicle of the large unmanned combat platform, the platform operation rule must be materialized into an algorithm and a template, the command personnel's strategy must be materialized into a rule and a program, and the command personnel must be bound to the aerial vehicle platform in the form of parameters of the data so as to realize the final task intention.
The traditional unmanned aerial vehicle hardware integration and architecture is derived from single combat task requirements, single load types, programmed task strategies and blocked information links, so that the task execution flexibility and usability of the unmanned aerial vehicle are greatly limited, and the unmanned aerial vehicle cannot be quickly adapted to various task scenes.
In order to form the capability of the unmanned aerial vehicle to quickly reconstruct to cope with the change of combat tasks, the unmanned aerial vehicle based on general hardware and general task management method and based on software definition is constructed so as to realize the plug and play of the unmanned aerial vehicle in the aspects of facing the multifunctional requirements and the multi-task application.
Disclosure of Invention
In view of the above, the present invention aims to provide a method and a device for planning a mission of an unmanned aerial vehicle based on software definition, which can adapt to the software definition of the performance of a multifunctional and complex mission of the unmanned aerial vehicle.
Based on the above purpose, the technical scheme of the invention is as follows: a unmanned aerial vehicle mission planning method based on software definition is characterized in that: the task is a cluster formed by a plurality of unmanned aircrafts, the unmanned aircrafts fly to a preset reconnaissance area to implement a reconnaissance task, and the target is delivered according to reconnaissance information;
The task planning method adopts a flight mode and a flight phase to define the task execution state of the unmanned aerial vehicle; the flight modes comprise an autonomous pilot mode and an autonomous companion mode; the flight phase comprises a data binding phase, an initial flight phase, a scout planning phase, a scout phase, a delivery planning phase and a delivery phase;
the specification binding stage is arranged before the unmanned aerial vehicle takes off, and the flight mode and flight stage transfer conditions of the unmanned aerial vehicle are defined through binding the specification; and injecting a scout planning algorithm for realizing on-line planning of a scout task based on software definition; the injection task delivery algorithm is used for realizing on-line planning of delivery tasks based on software definition;
after the unmanned aerial vehicle takes off, entering an initial flight stage, and carrying out flight stage transfer by judging stage transfer conditions, wherein the stage transfer conditions comprise a scout planning condition, a scout implementation condition, a scout ending condition and a delivery implementation condition; the scout planning condition is for transitioning from an initial flight phase to a scout planning phase, the scout implementation condition is for transitioning from the scout planning phase to the scout phase, the scout ending condition is for transitioning from the scout phase to a delivery planning phase, and the delivery implementation condition is for transitioning from the delivery planning phase to the delivery phase.
Further, before the unmanned aerial vehicle takes off, setting a flight mode for the unmanned aerial vehicle, setting one unmanned aerial vehicle as an autonomous piloting mode and also as an autonomous accompanying unmanned aerial vehicle, and setting other unmanned aerial vehicles as autonomous accompanying modes; defining an unmanned aerial vehicle set in an autonomous piloting mode as a piloting unmanned aerial vehicle, and defining an unmanned aerial vehicle set in an autonomous accompanying mode as an accompanying unmanned aerial vehicle;
before the unmanned aerial vehicle takes off, the task is planned in advance according to a task planning method in the prior art, and a preset flight track of each unmanned aerial vehicle is formedBinding the components to each unmanned aerial vehicle respectively; preset reconnaissance area for determining taskBinding to a piloted unmanned aerial vehicle as a specification;the number representing the unmanned aerial vehicle is displayed,the representation number isA preset flight trajectory of the unmanned aerial vehicle;
after the unmanned aerial vehicle takes off, each unmanned aerial vehicle respectively takes off according to a preset flight trackFlying; the pilot unmanned aerial vehicle receives real-time position and speed navigation information of the accompanying unmanned aerial vehicle and judges whether a reconnaissance planning condition is met; entering a scout planning stage when a scout planning condition is reached, continuously receiving a scout task instruction from a piloting unmanned aerial vehicle along with the unmanned aerial vehicle, and presetting a scout area by the piloting unmanned aerial vehicle according to an injected scout planning algorithm Performing on-line planning of a scout task, and presetting a scout areaAssigning to accompanying unmanned aerial vehicle, generating includes、Is sent to the accompanying unmanned aerial vehicle,the representation being assigned to numberAn accompanying unmanned aerial vehicle assigned reconnaissance area,The representation number isIs associated with unmanned aerial vehicle pairA reconnaissance starting moment of reconnaissance is carried out; entering a reconnaissance stage when the reconnaissance implementation condition is met, carrying out reconnaissance by the unmanned aerial vehicle according to the received reconnaissance task instruction, and sending reconnaissance information to the piloting unmanned aerial vehicle; entering a delivery planning stage when reaching a reconnaissance ending condition, and leading the piloted unmanned aerial vehicle to carry out on-line distribution of delivery tasks according to the received reconnaissance information sent by the accompanying unmanned aerial vehicle and an injected delivery planning algorithm, so as to generate a delivery task instruction and send the delivery task instruction to the accompanying unmanned aerial vehicle; when the delivery implementation condition is reached, the unmanned aerial vehicle enters a delivery stage, and delivers according to the received delivery task instruction.
Further, the scout planning condition is that the flight time t of each unmanned aerial vehicle is larger than the shortest initial flight timeAnd estimated flying to a preset reconnaissance areaResidual time of nearest ground distance Not more than N times of time spent in reconnaissance planningI.e.And is also provided withN is a positive integer, and is a value according to the design of the reconnaissance task;
the implementation condition of the reconnaissance is that the unmanned aerial vehicle receives the reconnaissanceMission command and accompanying unmanned aerial vehicleWith allocation of scout areasIs the nearest ground distance of (2)Less than the condition of the accompanying unmanned aerial vehicle meeting the reconnaissance distance and the allocation reconnaissance areaIs greater than the ground distanceI.e.；By accompanying unmanned aerial vehiclesMaximum reconnaissance distance of (2)And arrival allocation scout areaIs determined by the flying height of the vehicle;
the reconnaissance ending condition is that the unmanned aerial vehicle is accompanied by completion of allocation of the reconnaissance areaIs detected by the detection device;
the delivery implementation condition is that the piloted unmanned aerial vehicle completes delivery planning, the unmanned aerial vehicle receives a delivery task instruction, and the altitude and the speed of the unmanned aerial vehicle have the altitude and the speed conditions required by delivery implementation.
Further, the stage transition condition further includes a scout situation change condition for transitioning from a scout stage to a scout planning stage.
Furthermore, the pilot unmanned aerial vehicle injection reconnaissance planning algorithm realizes the on-line planning of the reconnaissance mission based on the software definition by the following steps:
step one: the starting time of the navigation unmanned aerial vehicle entering the reconnaissance planning stage is absolute time Will preset the reconnaissance areaIs divided intoA basic scout grid;
step two: will beNumbering the basic scout grids to make the basic scout grids numbered as，Numbered asIs called basic scout gridIs provided withStarting traversing when the initial value of (1) is 1, and executing the step three;
step three: the number of unmanned aerial vehicles isNumbered asIs called unmanned aerial vehicle，The method comprises the steps of carrying out a first treatment on the surface of the Is provided withStarting traversing when the initial value of (1) is 1, and executing the fourth step;
step four: unmanned aerial vehicle for calculationFor basic reconnaissance gridThe moment of performing scout and completing scout task isThe formula is:
；
wherein,is an unmanned aerial vehicleFlying to basic grid areaIs used for the time of day (c),is a basic reconnaissance gridIs defined by the area of the (c),is an unmanned aerial vehicleThe area scan rate of the scout field of view;is an unmanned aerial vehicleFor basic reconnaissance gridThe time length required for reconnaissance is finished;including unmanned aerial vehicleCompletion of a scout duration for an assigned basic scout gridAnd fly to basic reconnaissance gridDuration of (2)The formula is:；
let the grid areaIs an unmanned aerial vehicleThe latest grid in the list of assigned basic scout grids, defined as the latest assigned gridThe method comprises the steps of carrying out a first treatment on the surface of the According to unmanned aerial vehicle Whether there is an assigned scout area grid,anddifferent computational expressions are used, specifically:
；
；
wherein,is an unmanned aerial vehicleThe latest allocated grid c is scouted and the scout task is completed;is an unmanned aerial vehicleFor the latest allocated gridA longitudinal speed estimated during reconnaissance;for the most recently allocated gridTo a basic scout gridIs the nearest longitudinal distance of (1), i.e. the latest allocated gridTo a basic scout gridA projection component in a length direction;is an unmanned aerial vehicleReal-time location and basic scout gridThe ground connection distance of the nearest point;represents the reconnaissance distance of the unmanned aerial vehicle,representing the reconnaissance altitude of the unmanned aerial vehicle,basic reconnaissance grid for representing flying of aircraftThe ground speed of the closest point;
step five: numbering pairsReassigningStep four, traversing all unmanned aerial vehicles untilThe method comprises the steps of carrying out a first treatment on the surface of the Find outUnmanned aerial vehicle with earliest timeAs a basic scout gridUnmanned aerial vehicle for distribution, i.e.WhereinRepresenting a basic scout gridNumbering unmanned aerial vehicle of the reconnaissance task; order theAnd executeTo update nodesAccumulated scout end time, base grid areaAs unmanned aerial vehicle The latest allocated gridI.e.；
Step six: numbering pairsReassigningStep three, traversing all basic scout grids untilNamely, the allocation of the scout tasks of all scout areas, namely the whole grid, is completed, and a scout task instruction is formed, wherein the scout task instruction comprises allocation of the scout areasAnd start scout timeThe formed set is written as set form as follows:
in the method, in the process of the invention,representing a basic scout gridThe indicated region.
Further, the size of the basic reconnaissance grid is determined according to the instantaneous field of view of the unmanned aerial vehicle reconnaissance sensor, and the width and the length of the basic reconnaissance grid are both larger than the instantaneous field of view of the unmanned aerial vehicle reconnaissance sensor.
Furthermore, the pilot unmanned aerial vehicle injection task delivery algorithm realizes the on-line planning of the delivery task based on software definition by the following steps: known objectThe number of (2) isTarget(s)Is of unmanned aerial vehicleThe delivery mass isIs a payload of an unmanned aerial vehicleFor the targetDelivery quality isSingle-delivery damage probability achieved after payload of (a)Target, objectTarget value of (2)And performs the steps of:
a) Setting an initial value: unmanned aerial vehicle pair target Is to cumulative delivery damage probabilityThe initial value of (2) is 0;
b) Is provided withIs 1, traversing unmanned aerial vehicle，Carrying out delivery task allocation;
c) Setting targetIs 1, traversing the object，Performing a delivery efficiency calculation,is the target number;
d) For unmanned vehiclesAnd eyes(s)Label (C)Calculating marginal delivery efficiency based on a Bayesian formula, wherein the formula is as follows:
in the method, in the process of the invention,is an unmanned aerial vehicleFor the targetDelivery quality isThe marginal delivery efficiency of the payload of (c) is,is an unmanned aerial vehicleFlying objectIs defined by a distance to the ground,is an unmanned aerial vehicleAccording to the actual maneuver range of the unmanned aerial vehicleReal-time position and velocity determination of (2);representing unmanned aerial vehicleIs of (3)The maneuvering range meets the flying distance requirement, and the unmanned aerial vehicleIs provided with a targetExecuting marginal benefits of the delivery task; otherwiseThen no target is providedExecuting marginal benefits of the delivery task;
e) Returning to step (c) untilCompleting traversal, and selecting a target with maximum marginal delivery efficiencyAssigned to unmanned aerial vehiclesI.e.，Representation allocation to unmanned aerial vehiclesIs a target of (2); updating targetsIs the cumulative probability of damageThe method comprises the steps of carrying out a first treatment on the surface of the For unmanned aerial vehicleDistributing delivery tasks as targets Delivery area whereWhereinThe plane delivery precision meeting the delivery conditions is an inherent parameter of the unmanned aerial vehicle;
f) Unmanned aerial vehicleReassigningStep c) is performed untilAnd completing the delivery task distribution of all the aircrafts.
Further, the method comprises the steps of,the method is obtained by performing offline simulation according to the target vulnerability condition and the aircraft delivery accuracy.
Further, an electronic device includes: a processor; the memory is used for storing executable instructions of the processor; the processor is configured to perform the software defined based unmanned aerial vehicle mission planning method as described above via execution of the executable instructions.
Further, a computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements a software defined unmanned aerial vehicle mission planning method as described above.
Compared with the prior art, the method has the following advantages and beneficial effects: the method of the invention provides a technical scheme for determining the task execution state and carrying out task planning by setting the flight mode, the flight stage and the stage transfer condition, judges the state conversion of driving different flight stages by the stage transfer condition, carries out on-line task planning by injecting a reconnaissance/delivery planning algorithm, and thus realizes the driving execution of multifunctional complex tasks. It should be noted that, the stage transfer conditions in the above description are typical choices, and the flight stage transfer conditions provided by the invention define the mechanism of the flight task, and support the user to customize and design the flight transfer conditions and the online reconnaissance/delivery task planning algorithm so as to achieve richer and more practical tactical function implementation.
Drawings
FIG. 1 is a schematic diagram of a planning composition according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating software defined content according to an embodiment of the present invention;
FIG. 3 is a timing diagram of task execution of an autonomous pilot unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a timing diagram of task execution of an autonomous companion unmanned aerial vehicle in accordance with an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings, without limiting the invention in any way, and any alterations or substitutions based on the teachings of the invention are intended to fall within the scope of the invention.
Example 1
In this embodiment, the unmanned aerial vehicle is composed of an application layer system, a data layer system and a hardware layer system, wherein the task planning method described in the present invention belongs to the application layer system, and the data layer system mainly realizes information interaction storage between unmanned aerial vehicles in the cluster system. The hardware layer system refers to a physical implementation constituting an aircraft, including general-purpose modules, special-purpose modules, and accessory modules. The universal module consists of a power system, a structural system, a flight control system, transmitting equipment and testing equipment; the special module consists of a reconnaissance device and a delivery load; the accessory module comprises disassembly docking and assembly test equipment. The power system adopts a solid power device and is easy to maintain; the structural system adopts a metal cabin body and a composite material heat-resistant layer to realize the bearing of a force and heat environment in the flight process, and adopts a vector spray pipe/pneumatic control surface/attitude rail power device to realize the flight control of the aircraft. The flight control system comprises navigation equipment, a flight control computer, a battery, a power distribution module and the like. The flight control computer adopts a service-oriented application architecture, and is combined by hardware peripherals, an operating system and application software to adapt to the task requirements of flexible execution.
As shown in fig. 1, a software-defined unmanned aerial vehicle mission planning method is characterized in that: defining a plurality of unmanned aerial vehicles to form an unmanned aerial vehicle cluster system to complete an allocated task, wherein the allocated task comprises the steps of flying to a preset reconnaissance area to implement a reconnaissance task, and completing delivery of a target according to reconnaissance information; the task planning method adopts a flight mode and a flight phase to define the task execution state of the unmanned aerial vehicle; the flight modes comprise an autonomous pilot mode and an autonomous companion mode; the flight modes comprise an autonomous pilot mode and an autonomous companion mode, and the flight phases comprise a data binding phase S1, an initial flight phase S2, a scout planning phase S3, a scout phase S4, a delivery planning phase S5 and a delivery phase S6.
The specification binding stage S1 is arranged before the unmanned aerial vehicle takes off, and defines the flight mode and flight stage transfer conditions of the unmanned aerial vehicle by binding the specification; and injecting a scout planning algorithm, so as to realize on-line planning of a scout task based on software definition; injecting a task delivery algorithm so as to realize on-line planning of the delivery task based on a software definition;
the unmanned aerial vehicle enters an initial flight stage S2 after taking off, and the flight stage transfer is carried out by judging stage transfer conditions, wherein the stage transfer conditions comprise a scout planning condition C23, a scout implementation condition C34, a scout ending condition C45 and a delivery implementation condition C56, the scout planning condition C23 is used for transferring from the initial flight stage S2 to the scout planning stage S3, the scout implementation condition C34 is used for transferring from the scout planning stage S3 to the scout stage S4, the scout ending condition C45 is used for transferring from the scout stage S4 to the delivery planning stage S5, and the delivery implementation condition C56 is used for transferring from the delivery planning stage S5 to the delivery stage S6.
Generally, before the unmanned aerial vehicle takes off, setting a flight mode for the unmanned aerial vehicle, setting one unmanned aerial vehicle as an autonomous pilot mode and also as an accompanying unmanned aerial vehicle, and setting other unmanned aerial vehicles as autonomous accompanying modes; an unmanned aerial vehicle set to an autonomous pilot mode is defined as a pilot unmanned aerial vehicle, and an unmanned aerial vehicle set to an autonomous companion mode is defined as a companion unmanned aerial vehicle. Setting an unmanned aerial vehicle as an autonomous piloting mode and also as an accompanying unmanned aerial vehicle, wherein the piloting unmanned aerial vehicle not only executes an online task planning task, but also has reconnaissance and delivery tasks like the rest unmanned aerial vehicles; the piloting unmanned aerial vehicle defined in the application means that the unmanned aerial vehicle executes an on-line task planning task; the accompanying unmanned aerial vehicle defined in the present application refers to each unmanned aerial vehicle performing reconnaissance and delivery tasks including performing piloted unmanned aerial vehicles. The flight patterns are bound as data to the unmanned aerial vehicle.
Before the unmanned aerial vehicle takes off, the task is planned in advance according to a task planning method in the prior art, and a preset flight track of each unmanned aerial vehicle is formed Binding the components to each unmanned aerial vehicle respectively; scout area for task determinationBinding to a piloted unmanned aerial vehicle as a specification;the number representing the unmanned aerial vehicle is displayed,the representation number isIs a preset flight trajectory of the unmanned aerial vehicle. The parameters of the unmanned aerial vehicle are parameters for controlling the flight, reconnaissance and delivery behaviors of the unmanned aerial vehicle, including a flight mode, a preset flight track and a preset reconnaissance area; the act of binding the bits to the unmanned aerial vehicle is referred to as binding the bits.
After the unmanned aerial vehicle takes off, each unmanned aerial vehicle respectively performs pre-treatment according toFlying traceFlying; the piloting unmanned aerial vehicle receives real-time position and speed navigation information of the accompanying unmanned aerial vehicle and judges whether a reconnaissance planning condition C23 is met; entering a scout planning stage S3 when the scout planning condition C23 is reached, and continuously receiving a scout mission instruction from the piloting unmanned aerial vehicle along with the unmanned aerial vehicle, wherein the piloting unmanned aerial vehicle presets a scout area according to an injected scout planning algorithmPerforming on-line planning of a scout task, and presetting a scout areaAssigning to accompanying unmanned aerial vehicle, generating includes、Is sent to the accompanying unmanned aerial vehicle, The representation being assigned to numberAn accompanying unmanned aerial vehicle assigned reconnaissance area,The representation number isIs associated with unmanned aerial vehicle pairA reconnaissance starting moment of reconnaissance is carried out; entering a reconnaissance stage S4 when the reconnaissance implementation condition C34 is reached, carrying out reconnaissance by the unmanned aerial vehicle according to the received reconnaissance task instruction, and sending reconnaissance information to the piloting unmanned aerial vehicle; reaching the reconnaissance end condition C45Entering a delivery planning stage S5, and according to the received reconnaissance information sent by the accompanying unmanned aerial vehicle, carrying out on-line distribution of delivery tasks according to an injected delivery planning algorithm, generating a delivery task instruction and sending the delivery task instruction to the accompanying unmanned aerial vehicle; when the delivery execution condition C56 is reached, the operation proceeds to a delivery stage S6, and the unmanned aerial vehicle executes delivery in accordance with the received delivery task instruction. The phase transfer conditions are bound as units to the unmanned aerial vehicle.
In general, the scout planning condition C23 is the flight time t of each unmanned aerial vehicle, which is greater than the shortest initial flight timeAnd estimated flying to a preset reconnaissance areaResidual time of nearest ground distanceNot more than N times of time spent in reconnaissance planningI.e.And is also provided withN is a positive integer, and is designed to be a value according to a scout task (the value of N is related to the anti-interference capability and the scout capability of the aircraft, and can be selected by a person skilled in the art according to specific conditions of the task).
The scout implementation condition C34 is that the scout implementation condition is that the unmanned aerial vehicle receives a scout mission instruction and the unmanned aerial vehicle is accompaniedWith allocation of scout areasIs the nearest ground distance of (2)Less than the condition of the accompanying unmanned aerial vehicle meeting the reconnaissance distance and the allocation reconnaissance areaIs greater than the ground distanceI.e.；By accompanying unmanned aerial vehiclesMaximum reconnaissance distance of (2)And arrival allocation scout areaIs determined by the flying height of the aircraft.
The reconnaissance ending condition C45 is the condition that the unmanned aerial vehicle completes the allocation of the reconnaissance areaIs detected by the detection device;
the delivery implementation condition C56 is that the piloted unmanned aerial vehicle completes the delivery plan, the unmanned aerial vehicle receives the delivery task instruction, and the altitude and the speed of the unmanned aerial vehicle have the altitude and the speed conditions required by the delivery implementation.
Optionally, the stage transition condition further includes a scout situation change condition C43 for transitioning from the scout stage S4 to the scout planning stage S3. The reconnaissance situation change condition C43 is used for solving the problem that the unmanned aerial vehicle needs to be reconsidered for reconnaissance planning when the unmanned aerial vehicle cannot complete the reconnaissance task in the reconnaissance stage, or the unmanned aerial vehicle needs to execute the reconnaissance task for many times, and the unmanned aerial vehicle needs to be reconsidered for reconnaissance planning after the allocated reconnaissance task is completed.
It should be noted that, the stage transition condition in the above description is a typical setting, and can be redefined in a software form; the flight phase transfer mechanism provided by the embodiment defines a planning method of the execution state of the flight task, and supports a user to design the flight transfer condition through data or direct customization so as to achieve richer tactical function implementation.
The important reason for realizing the purpose of the invention is that the mission plan is redefined in a software form, the content determined by the software is shown in figure 2, the contents including the flight mode, the preset track, the preset reconnaissance area, the reconnaissance planning condition, the reconnaissance implementation condition, the reconnaissance ending condition and the delivery implementation condition are set, and the contents are bound to the unmanned aerial vehicle, and the reconnaissance planning algorithm and the delivery planning algorithm are injected to carry out the on-line mission plan.
Example 2
On the basis of embodiment 1, a specific flow of each stage of the task planning method provided by the invention is described. FIG. 3 is a timing diagram of unmanned aerial vehicle mission execution in autonomous pilot mode; a timing diagram for unmanned aerial vehicle mission execution in autonomous companion mode is shown in fig. 4.
S1 data binding stage
The binding stage of the data is to perform task pre-planning according to the specific situation of the task before take-off (the task pre-planning method is consistent with the prior art, and the reconnaissance area and the delivery area are distributed according to the detection and delivery capacity of each unmanned aerial vehicle in the cluster system), and the flight mode, the preset track, the preset reconnaissance area and the stage transfer condition of the unmanned aerial vehicle are set through binding the data, and meanwhile, the reconnaissance planning algorithm and the task delivery algorithm are injected.
Firstly, setting a flight mode according to task allocation of unmanned aerial vehicles, wherein one unmanned aerial vehicle bears a pilot task in one clustered flight task and is set to an autonomous pilot mode; the other unmanned aerial vehicles bear accompanying tasks and are set to an autonomous accompanying mode; and the unmanned aerial vehicle with the autonomous pilot mode is set to be an autonomous accompanying mode. Binding data to everyone withoutIn the aircraft, the data comprise a flight mode and preset flight tracks are bound to each unmanned aircraftScout area for assignment of tasks to bookings of piloted unmanned aerial vehiclesThe method comprises the steps of carrying out a first treatment on the surface of the And binding the scout planning condition, the scout implementation condition, the scout ending condition and the delivery implementation condition.
Wherein the preset trackThe method is formed by pre-planning the aircraft according to the specific situation of the distributed tasks, and the method can be completed by adopting the prior art. For clarity of illustration, forPossibly including a plurality of guide point coordinatesAnd guide end distanceThe expression form is as follows:，the number of the guide points is the number; the guide end distanceRefers to the distance between the real-time position of the aircraft and the current guide point, is the criterion of switching the guide point, and when the real-time position of the aircraft meets the requirementWhen switching to the next guidance point Wherein, the method comprises the steps of, wherein,representing real-time position coordinates of the aircraft,representing a distance between the real-time position of the aircraft and the current guidance point position; the last guide point of the preset trackAlso unmanned aerial vehicleA kind of electronic deviceIs defined by a center point of the lens. The position coordinates are the position coordinates under a target geographic system, the target geographic system T-xyz refers to a coordinate system taking a preset target point T of a cluster as an origin, the geographic system x-axis is parallel to a horizontal plane and points to north, the geographic system y-axis is vertical to the horizontal plane and positive upwards, and the geographic system z-axis is determined according to a right-hand rule.
The preset reconnaissance areaTo be at preset target pointThe area to be detected is defined on the horizontal plane where the preset target point is located, and is generally a circular area, and the definition form is as follows:whereinRefers to the radius of the circular area, which is determined by a commander or a task planning system according to the actual specific situation of the task.
The preset reconnaissance areaAt the same time also serves as a preset delivery areaFor unmanned aerial vehicle with preset target pointThe central area to be delivered is defined on the horizontal plane where the preset target point is located, and is represented by coordinates x and z, and a coordinate point set is formed, and meanwhile, the height condition and the speed condition are met. Wherein the altitude condition refers to the real-time flying altitude of the unmanned aerial vehicle In the deliverable regionIn,representing the lowest deliverable fly height,representing a highest deliverable flight level; the speed condition refers to the real-time flying speed of the unmanned aerial vehicleIn the deliverable speed intervalIn,indicating a minimum deliverable speed that is to be delivered,representing maximum deliverable speed, presetting delivery areaThe requirements are as follows:
s2 initial flight phase
After the unmanned aerial vehicle takes off, the unmanned aerial vehicle enters an initial flight stage, and each unmanned aerial vehicle makes a preset flight trackFlying; the piloting unmanned aerial vehicle judges whether the reconnaissance planning condition C23 is met, and when the reconnaissance planning condition C23 is met, the reconnaissance planning stage S3 is entered;
optionally, considering the real-time performance of the reconnaissance situation, the number of planning times before reconnaissance is implemented does not need to be excessive, and the reconnaissance planning condition C23 is set as the flight time t of each unmanned aerial vehicle and is larger than the shortest initial flight timeAnd estimated flying to a preset reconnaissance areaResidual time of nearest ground distanceNot more than N times of time spent in reconnaissance planningI.e.And is also provided withN is a positive integer, and is designed to be a value according to a scout task (the value of N is related to the anti-interference capability and the scout capability of the aircraft, and can be selected by a person skilled in the art according to specific conditions of the task).
Wherein the time of flightThe minimum initial flight time is the time after the unmanned aerial vehicle takes offIs an inherent attribute of unmanned aerial vehicles; pre-estimated fly-over preset reconnaissance areaIs not longer than the remaining time of (2)Estimated according to uniform acceleration of linear motion, i.e.Satisfy the following requirements； Preset reconnaissance area for piloting unmanned aerial vehicleIs set to be a minimum distance from the ground,、preset reconnaissance areas for pilot unmanned aerial vehicles to flyThe projection direction of the horizontal velocity component and the horizontal acceleration component of the closest point of the (2) is the piloting unmanned aerial vehicle and a preset reconnaissance areaThe direction of the line connecting the closest points,ground distance relative to the area to be scouted for a piloting unmanned aerial vehicle satisfying a scout distance condition，Is the reconnaissance distance of the unmanned aerial vehicle, is a fixed parameter,preset reconnaissance area for piloting unmanned aerial vehicleFlying height at near point.
S3 reconnaissance planning stage
After entering the reconnaissance planning stage S3, the unmanned aerial vehicle in the autonomous piloting mode presets a reconnaissance area according to the real-time position of each unmanned aerial vehicleAssigning a scout mission to each unmanned aerial vehicle, generating a scout area including the assignmentTime to begin reconnaissanceWherein the instruction is configured to detect a command, wherein,the number representing the unmanned aerial vehicle is displayed, The representation being assigned to numberIs allocated a reconnaissance area of the unmanned aerial vehicle,the representation number isA start time for the unmanned aerial vehicle to perform a scout mission.
If the scout implementation condition C34 is met, a scout stage S4 is entered, and the unmanned aerial vehicle executes a scout task, and scout information including the target number, the target position and the target type is returned to the piloting unmanned aerial vehicle.
Preferably, the pilot unmanned aerial vehicle is injected into a reconnaissance planning algorithm, and the steps for realizing on-line planning of a reconnaissance task based on software definition are as follows:
step one: the starting time of the navigation unmanned aerial vehicle entering the reconnaissance planning stage is absolute timeWill preset the reconnaissance areaIs divided intoA basic scout grid;
step two: will beNumbering the basic scout grids to make the basic scout grids numbered as，Numbered asIs called basic scout gridIs provided withStarting traversing when the initial value of (1) is 1, and executing the step three;
step three: the number of unmanned aerial vehicles isNumbered asIs called unmanned aerial vehicle，The method comprises the steps of carrying out a first treatment on the surface of the Is provided withStarting traversing when the initial value of (1) is 1, and executing the fourth step;
step four: unmanned aerial vehicle for calculationFor basic reconnaissance gridThe moment of performing scout and completing scout task is The formula is:
；
wherein,is an unmanned aerial vehicleFlying to basic grid areaIs used for the time of day (c), is a basic reconnaissance gridIs defined by the area of the (c), is an unmanned aerial vehicleThe area scan rate of the scout field of view;is an unmanned aerial vehicleFor basic reconnaissance gridThe time length required for reconnaissance is finished;including unmanned aerial vehicleCompletion of a scout duration for an assigned basic scout gridAnd fly to basic reconnaissance gridDuration of (2)The formula is:；
let the grid areaIs an unmanned aerial vehicleThe latest grid in the list of assigned basic scout grids, defined as the latest assigned gridThe method comprises the steps of carrying out a first treatment on the surface of the According to unmanned aerial vehicleWhether there is an assigned scout area grid,anddifferent computational expressions are used, specifically:
；
；
wherein,is an unmanned aerial vehicleThe latest allocated grid c is scouted and the scout task is completed;is an unmanned aerial vehicleFor the latest allocated gridA longitudinal speed estimated during reconnaissance;for the most recently allocated gridTo a basic scout gridIs the nearest longitudinal distance of (1), i.e. the latest allocated gridTo a basic scout gridA projection component in a length direction;is an unmanned aerial vehicleReal-time location and basic scout gridThe ground connection distance of the nearest point; Represents the reconnaissance distance of the unmanned aerial vehicle,representing the reconnaissance altitude of the unmanned aerial vehicle,basic reconnaissance grid for representing flying of aircraftThe ground speed of the closest point;
step five: numbering pairsReassigningStep four, traversing all unmanned aerial vehicles untilThe method comprises the steps of carrying out a first treatment on the surface of the Find outUnmanned aerial vehicle with earliest timeAs a basic scout gridUnmanned aerial vehicle for distribution, i.e.WhereinRepresenting a basic scout gridNumbering unmanned aerial vehicle of the reconnaissance task; order theAnd executeTo update nodesAccumulated scout end time, base grid areaAs unmanned aerial vehicleThe latest allocated gridI.e.；
Step six: numbering pairsReassigningStep three, traversing all basic scout grids untilNamely, the allocation of the scout tasks of all scout areas, namely the whole grid, is completed, and a scout task instruction is formed, wherein the scout task instruction comprises allocation of the scout areasAnd start scout timeThe formed set is written as set form as follows:
in the method, in the process of the invention,representing a basic scout gridThe indicated region.
Judging whether the unmanned aerial vehicle meets the reconnaissance implementation condition C34, and entering a reconnaissance stage S4 when the unmanned aerial vehicle meets the reconnaissance implementation condition C34; the scout implementation condition C34 is that the scout implementation condition is that the unmanned aerial vehicle receives a scout mission instruction and the unmanned aerial vehicle is accompanied With allocation of scout areasIs the nearest ground distance of (2)Less than the condition of the accompanying unmanned aerial vehicle meeting the reconnaissance distance and the allocation reconnaissance areaIs greater than the ground distanceI.e.；By accompanying unmanned aerial vehiclesMaximum reconnaissance distance of (2)And arrival allocation scout areaIs determined by the flying height of the aircraft.
S4 reconnaissance stage
Unmanned aerial vehicle entering reconnaissance stage S4Reconnaissance area per received allocationTime of starting reconnaissanceInstruction completion pairIs provided for the guidance and reconnaissance of the subject.
Optionally, to allocate a scout areaThe center point of the unmanned aerial vehicle is used as the next guiding point of the unmanned aerial vehicle to guide the track of the unmanned aerial vehicle. The fact that the unmanned aerial vehicle can finish reconnaissance before delivering implementation conditions is generally ensured by being equipped with a sensor with a large detection distance. Simultaneously, unmanned vehicles opens detection sensor and measures: preferably, if a radar reconnaissance sensor is adopted, performing coordinate conversion according to ranging and angle measurement information of a target, then calculating to obtain a target position TarP and a target speed TarV under a target geographic system, and obtaining a target type TarC according to target size feature analysis; if an infrared or optical reconnaissance sensor is adopted, a target position TarP is obtained according to angle measurement information, a target speed TarV is obtained through differential calculation, and a target type TarC is estimated according to signal characteristic information and a pre-installed target characteristic template of the aircraft. After the position, the speed and the type of the target are acquired, the value and the purpose of the target can be estimated The bid value TarV is used as a function of the target position, speed and type, and is obtained through fitting in the form of off-line large sample efficiency simulation.
And judging whether the reconnaissance ending condition C45 is met, and entering an S5 delivery planning stage when the reconnaissance ending condition C45 is met.
Optionally, the reconnaissance end condition C45 is that the unmanned aerial vehicle completes the allocation of the reconnaissance areaAnd the unmanned aerial vehicle flies to the rest of the nearest ground distance of the area to be deliveredA delivery planning duration of less than NT times, i.e. satisfying，The time consuming for delivery planning is long, NT is a positive integer, and can be customized according to specific tasks. Wherein the method comprises the steps ofShould satisfyWhereinFor the closest ground distance of the unmanned aerial vehicle from the area to be delivered,、the horizontal velocity component and the horizontal acceleration component respectively refer to the point where the unmanned aerial vehicle flies to the near point of the area to be delivered, and the projection directions of the components are the connecting line directions of the closest point of the unmanned aerial vehicle and the area to be delivered. The area to be delivered can be pre-planned and determined in the specification binding stage and used as specification content for binding, and the allocation reconnaissance area can also be allocatedAs the area to be delivered.
S5 delivery planning stage
And in the delivery planning stage, after the unmanned aerial vehicle in the autonomous pilot mode collects the reconnaissance information, a delivery task is distributed according to the relative positions of the unmanned aerial vehicle clusters and the targets and the value distribution of the targets, namely, the reconnaissance targets are distributed to the accompanying aerial vehicles for delivery. For unmanned aircraft j, the delivery task is the region to be delivered defined by delivery target Tar_ts (j) WhereinRefers to the location of the object to be delivered assigned to unmanned aircraft j,to meet the required planar delivery accuracy under delivery conditions, this value is an inherent attribute that needs to be determined from unmanned aerial vehicle dynamics.
Preferably, the piloting unmanned aerial vehicle injects a task delivery algorithm, and the step of realizing on-line planning of the delivery task based on a software definition is as follows: known objectThe number of (2) isTarget(s)Is of unmanned aerial vehicleThe delivery mass isIs a payload of an unmanned aerial vehicleFor the targetDelivery quality isSingle-delivery damage probability achieved after payload of (a)Target, objectTarget value of (2)And performs the steps of:
a) Setting an initial value: unmanned aerial vehicle pair targetIs to cumulative delivery damage probabilityThe initial value of (2) is 0;
b) Is provided withIs 1, traversing unmanned aerial vehicle，Carrying out delivery task allocation;
c) Setting targetIs 1, traversing the object，Performing a delivery efficiency calculation,is the target number;
d) For unmanned vehiclesAnd objectsCalculating marginal delivery efficiency based on a Bayesian formula, wherein the formula is as follows:
in the method, in the process of the invention,is an unmanned aerial vehicleFor the targetDelivery quality isThe marginal delivery efficiency of the payload of (c) is, Is an unmanned aerial vehicleFlying objectIs defined by a distance to the ground,is an unmanned aerial vehicleAccording to the actual maneuver range of the unmanned aerial vehicleReal-time position and velocity determination of (2);representing unmanned aerial vehicleThe actual maneuvering range of the unmanned aerial vehicle meets the flying distance requirement, namely the unmanned aerial vehicleIs provided with a targetExecuting marginal benefits of the delivery task; otherwiseThen no target is providedExecuting marginal benefits of the delivery task;
e) For the target objectReassigning valuesStep c) is performed untilFinishing the traversal; selecting a target that maximizes marginal delivery efficiencyAssigned to unmanned aerial vehiclesI.e.，Representation allocation to unmanned aerial vehiclesIs a target of (2); updating targetsIs the cumulative probability of damageThe method comprises the steps of carrying out a first treatment on the surface of the For unmanned aerial vehicleDistributing delivery tasks as targetsDelivery area whereWhereinThe plane delivery precision meeting the delivery conditions is an inherent parameter of the unmanned aerial vehicle;
f) Unmanned aerial vehicleReassigningStep b) is performed untilAnd completing the delivery task distribution of all the aircrafts.
Optionally, the delivery implementation condition C56 is that the piloted unmanned aerial vehicle completes the delivery plan, the unmanned aerial vehicle receives the delivery task instruction, and the altitude and the speed of the unmanned aerial vehicle have the altitude and the speed conditions required by the delivery implementation. When delivery execution condition C56 is reached, the process advances to a delivery stage S6.
S6 delivery stage S6
Firstly, taking the center point of the distributed delivery area as the next guiding point of the unmanned aerial vehicle, and guiding the track of the unmanned aerial vehicle; and carrying out delivery when the unmanned aerial vehicle flies to the allocated delivery area.
Further, in the delivery stage, after the delivery task allocation is completed, all unmanned aerial vehicles guide and deliver the task execution according to the allocated targets. Firstly, taking the distributed center point of the delivery area as the next guiding point of the unmanned aerial vehicle, and guiding the track of the unmanned aerial vehicle; and carrying out delivery when the unmanned aerial vehicle flies to the allocated delivery area.
Furthermore, the task planning method can also be used for realizing the unmanned aerial vehicle reconnaissance task and the delivery task planning method by a software module and injecting the unmanned aerial vehicle reconnaissance task and the delivery task into the aerial vehicle, so that the unmanned aerial vehicle and the cluster on-line task planning can be defined in a software mode.
In particular, when defining different tasks, such as defining a special reconnaissance unmanned aerial vehicle and a special delivery unmanned aerial vehicle, the reconnaissance ending condition can be realized through customized design:
if the unmanned aerial vehicle is a special reconnaissance unmanned aerial vehicle, the delivery task is not executed, the reconnaissance ending condition definition of the unmanned aerial vehicle is not met, and the reconnaissance is continuously carried out.
If the unmanned aerial vehicle is a special delivery unmanned aerial vehicle, the reconnaissance task is not executed, the area to be reconnaissance of the unmanned aerial vehicle is allocated as an empty set, and reconnaissance ending conditions are customized to be met before the unmanned aerial vehicle flies to the area to be delivered.
The invention also discloses an electronic device, comprising:
a processor; the method comprises the steps of,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the distributed generation based power scheduling method described above via execution of the executable instructions.
The invention also discloses a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the power supply scheduling method based on distributed power generation.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
While the application has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the application. The above examples should be understood as illustrative only and not limiting the scope of the application. Various changes and modifications to the present application may be made by one skilled in the art after reading the teachings herein, and such equivalent changes and modifications are intended to fall within the scope of the application as defined in the appended claims.
Claims (10)
1. A unmanned aerial vehicle mission planning method based on software definition is characterized in that: the task is a cluster formed by a plurality of unmanned aircrafts, the unmanned aircrafts fly to a preset reconnaissance area to implement a reconnaissance task, and the target is delivered according to reconnaissance information;
The task planning method adopts a flight mode and a flight phase to define the task execution state of the unmanned aerial vehicle; the flight modes comprise an autonomous pilot mode and an autonomous companion mode; the flight phase comprises a data binding phase, an initial flight phase, a scout planning phase, a scout phase, a delivery planning phase and a delivery phase;
the specification binding stage is arranged before the unmanned aerial vehicle takes off, and the flight mode and flight stage transfer conditions of the unmanned aerial vehicle are defined through binding the specification; and injecting a scout planning algorithm for realizing on-line planning of a scout task based on software definition; the injection task delivery algorithm is used for realizing on-line planning of delivery tasks based on software definition;
after the unmanned aerial vehicle takes off, entering an initial flight stage, and carrying out flight stage transfer by judging stage transfer conditions, wherein the stage transfer conditions comprise a scout planning condition, a scout implementation condition, a scout ending condition and a delivery implementation condition; the scout planning condition is for transitioning from an initial flight phase to a scout planning phase, the scout implementation condition is for transitioning from the scout planning phase to the scout phase, the scout ending condition is for transitioning from the scout phase to a delivery planning phase, and the delivery implementation condition is for transitioning from the delivery planning phase to the delivery phase.
2. A software-defined unmanned aerial vehicle mission planning method as claimed in claim 1, wherein:
before the unmanned aerial vehicle takes off, setting a flight mode for the unmanned aerial vehicle, setting one unmanned aerial vehicle as an autonomous pilot mode and also as an autonomous accompanying unmanned aerial vehicle, and setting other unmanned aerial vehicles as autonomous accompanying modes; defining an unmanned aerial vehicle set in an autonomous piloting mode as a piloting unmanned aerial vehicle, and defining an unmanned aerial vehicle set in an autonomous accompanying mode as an accompanying unmanned aerial vehicle;
before the unmanned aerial vehicle takes off, the task is planned in advance according to a task planning method in the prior art, and a preset flight track of each unmanned aerial vehicle is formedBinding the components to each unmanned aerial vehicle respectively; preset reconnaissance area for task determination>Binding to a piloted unmanned aerial vehicle as a specification; />Number representing unmanned aerial vehicle, +.>The expression number is->A preset flight trajectory of the unmanned aerial vehicle;
after the unmanned aerial vehicle takes off, each unmanned aerial vehicle respectively takes off according to a preset flight trackFlying; the pilot unmanned aerial vehicle receives real-time position and speed navigation information of the accompanying unmanned aerial vehicle and judges whether a reconnaissance planning condition is met; entering a scout planning stage when the scout planning condition is reached, and continuously receiving a scout task instruction from the piloting unmanned aerial vehicle along with the unmanned aerial vehicle, wherein the piloting unmanned aerial vehicle subtends a preset scout area according to an injected scout planning algorithm >Performing on-line planning of a scout task, and presetting a scout area +.>Assigning to accompanying unmanned aerial vehicle, generating includes、/>Is sent to the accompanying unmanned aerial vehicle,/->The indication is assigned to the number +.>Is associated with the unmanned aerial vehicle, is allocated a reconnaissance area,/-or->The expression number is->Is a companion unmanned aircraft pair->A reconnaissance starting moment of reconnaissance is carried out; entering a reconnaissance stage when the reconnaissance implementation condition is met, carrying out reconnaissance by the unmanned aerial vehicle according to the received reconnaissance task instruction, and sending reconnaissance information to the piloting unmanned aerial vehicle; entering a delivery planning stage when reaching a reconnaissance ending condition, and leading the piloted unmanned aerial vehicle to carry out on-line distribution of delivery tasks according to the received reconnaissance information sent by the accompanying unmanned aerial vehicle and an injected delivery planning algorithm, so as to generate a delivery task instruction and send the delivery task instruction to the accompanying unmanned aerial vehicle; when the delivery implementation condition is reached, the unmanned aerial vehicle enters a delivery stage, and delivers according to the received delivery task instruction.
3. A software-defined unmanned aerial vehicle mission planning method as claimed in claim 1, wherein:
the reconnaissance planning condition is that the flight time t of each unmanned aerial vehicle is larger than the shortest initial flight time And estimated flight to the preset reconnaissance area +.>Residual time of nearest ground distance +.>Not more than N times of scout planning takes a long time>I.e. +.>And->N is a positive integer, and is a value according to the design of the reconnaissance task;
the reconnaissance implementation condition is that the accompanying unmanned aerial vehicle receives a reconnaissance task instruction and the accompanying unmanned aerial vehicleAnd allocate reconnaissance area->Is>Less than the condition of the accompanying unmanned aerial vehicle satisfying the reconnaissance distance and the allocation of the reconnaissance area +.>Is greater than the ground distanceI.e. +.>；/>By accompanying unmanned aerial vehicle->Maximum reconnaissance distance +.>And arrival allocation scout area->Is determined by the flying height of the vehicle;
the reconnaissance ending condition is that the unmanned aerial vehicle is accompanied by completion of allocation of the reconnaissance areaIs detected by the detection device;
the delivery implementation condition is that the piloted unmanned aerial vehicle completes delivery planning, the unmanned aerial vehicle receives a delivery task instruction, and the altitude and the speed of the unmanned aerial vehicle have the altitude and the speed conditions required by delivery implementation.
4. A software-defined unmanned aerial vehicle mission planning method as claimed in claim 1, wherein: the stage transfer conditions further include a scout situation change condition for transferring from a scout stage to a scout planning stage.
5. The unmanned aerial vehicle mission planning method based on software definition according to claim 2, wherein the step of injecting the pilot unmanned aerial vehicle into the reconnaissance planning algorithm to realize the reconnaissance mission on-line planning based on the software definition is as follows:
step one: the starting time of the navigation unmanned aerial vehicle entering the reconnaissance planning stage is absolute timeWill preset the reconnaissance area +.>Is divided into->A basic scout grid;
step two: will beNumbering the basic detection grids to enable the basic detectionThe number of the observation grid is->，/>Number->Is called basic scout mesh +.>Is provided with->Starting traversing when the initial value of (1) is 1, and executing the step three;
step three: the number of unmanned aerial vehicles isNumber->Is called unmanned aerial vehicle +.>，The method comprises the steps of carrying out a first treatment on the surface of the Is provided with->Starting traversing when the initial value of (1) is 1, and executing the fourth step;
step four: unmanned aerial vehicle for calculationFor basic reconnaissance grid->Time for performing scout and completing scout taskIs thatThe formula is:
；
wherein,is unmanned aerial vehicle->Flying to basic grid area->Is (are) time of day-> Is a basic reconnaissance grid->Area of-> Is unmanned aerial vehicle->The area scan rate of the scout field of view;is unmanned aerial vehicle- >For basic reconnaissance grid->The time length required for reconnaissance is finished; />Comprising unmanned aerial vehicle->Finishing the scout duration for the assigned basic scout grid>And fly to basic scout grid->Duration of +.>The formula is: />；
Let the grid areaIs unmanned aerial vehicle->The latest grid in the list of assigned basic scout grids, defined as the latest assigned grid +.>The method comprises the steps of carrying out a first treatment on the surface of the According to unmanned aerial vehicle->Whether or not there is an allocated scout area grid +.>Anddifferent computational expressions are used, specifically:
；
；
wherein,is unmanned aerial vehicle->The latest allocated grid c is scouted and the scout task is completed; />Is unmanned aerial vehicle->For the latest allocated grid->A longitudinal speed estimated during reconnaissance; />For the latest allocated grid->To basic scout grid->Is the nearest longitudinal distance of (1), i.e. the latest allocated grid +.>To a basic scout gridA projection component in a length direction; />Is unmanned aerial vehicle->Real-time location and basic scout grid>The ground connection distance of the nearest point; />Representing the reconnaissance distance of the unmanned aerial vehicle, +.>Representing the reconnaissance altitude of the unmanned aerial vehicle,basic reconnaissance grid representing flying of aircraft>The ground speed of the closest point;
step five: numbering pairs Reassigning +.>Step four, traversing all unmanned aerial vehicles untilThe method comprises the steps of carrying out a first treatment on the surface of the Find out->Unmanned aerial vehicle with earliest corresponding moment +.>As basic scout grid->Unmanned aerial vehicle allocated, i.e. +.>Wherein->Representing the basic scout grid->Numbering unmanned aerial vehicle of the reconnaissance task; let->And execute->To update node->Accumulated scout end time, base mesh area +.>As unmanned aerial vehicle->Newly allocated grid->I.e.；
Step six: numbering pairsReassigning/>Step three, traversing all basic scout grids untilNamely finishing the allocation of the scout tasks of all the scout areas, namely the whole grid, forming a scout task instruction, wherein the scout task instruction comprises allocation of the scout areas +.>And start scout time +.>The formed set is written as set form as follows:
；
in the method, in the process of the invention,representing basic scout grid->The indicated region.
6. The unmanned aerial vehicle mission planning method of claim 5, wherein the basic scout grid is sized according to the instantaneous field of view of the unmanned aerial vehicle scout sensor, and the basic scout grid has a width and a length that are both greater than the instantaneous field of view of the unmanned aerial vehicle scout sensor.
7. The unmanned aerial vehicle mission planning method based on software definition according to claim 2, wherein the step of piloting the unmanned aerial vehicle to inject mission delivery algorithm and realize on-line planning of delivery mission based on software definition is as follows: known objectThe number of (2) is +.>Target->Is the position of unmanned aerial vehicle->The delivery quality is->Is of unmanned aircraft +.>For object->Delivery quality is +.>Single delivery failure probability achieved after payload of (2)>Target->Target value of->And performs the steps of:
a) Setting an initial value: unmanned aerial vehicle pair targetIs added with the cumulative probability of delivering the damage>The initial value of (2) is 0;
b) Is provided withIs 1, traversing unmanned aerial vehicle +.>，/>Carrying out delivery task allocation;
c) Setting targetThe initial value of (1) is 1, traversing the object +.>，/>Performing delivery efficacy calculation, and +_>Is the target number;
d) For unmanned vehiclesAnd goal->Calculating marginal delivery efficiency based on a Bayesian formula, wherein the formula is as follows:
；
in the method, in the process of the invention,is unmanned aerial vehicle->For object->Delivery quality is +.>Marginal delivery efficacy of payload of +.>Is unmanned aerial vehicle->Flying object->Is the earth distance of>Is unmanned aerial vehicle->According to the actual maneuver range of the unmanned aerial vehicle +. >Real-time position and velocity determination of (2); />Representing unmanned aerial vehicle->The actual maneuver range of (2) meets the flying distance requirement, namely unmanned aerial vehicle +.>Is provided with +.>Executing marginal benefits of the delivery task; otherwise->Then do not have the target->Executing marginal benefits of the delivery task;
e) For the target objectReassigning->Step c) is performed until +.>Finishing the traversal; selecting the target +.>Assigned to unmanned aerial vehicle->I.e. +.>，/>Representing allocation to unmanned aircraft->Is a target of (2); update target->Is>The method comprises the steps of carrying out a first treatment on the surface of the For unmanned aerial vehicle->Distributing delivery tasks as targets->Delivery area whereWherein->The plane delivery precision meeting the delivery conditions is an inherent parameter of the unmanned aerial vehicle;
f) Unmanned aerial vehicleReassigning +.>Step b) is performed until +.>And completing the delivery task distribution of all the aircrafts.
8. A software defined based unmanned aerial vehicle mission planning method as claimed in claim 7, wherein,the method is obtained by performing offline simulation according to the target vulnerability condition and the aircraft delivery accuracy.
9. An electronic device, comprising: a processor; the memory is used for storing executable instructions of the processor; the processor is configured to perform the software defined based unmanned aerial vehicle mission planning method of any of claims 1-8 via execution of the executable instructions.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a software-defined unmanned aerial vehicle mission planning method as claimed in any one of claims 1 to 8.
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