CN117173934A - Marine threat target interception point forecasting method and system for unmanned ship cluster convoy - Google Patents
Marine threat target interception point forecasting method and system for unmanned ship cluster convoy Download PDFInfo
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Abstract
A method and a system for forecasting a blocking point of an offshore threat target for unmanned ship cluster convoy belong to the field of motion forecasting of the offshore threat target. The invention solves the problem that the effect of protecting the navigation is poor based on the interception point calculated by the prior method. The invention is as follows: step one, acquiring the positions, speeds and heading of an offshore threat target and a pilot target; step two, the pilot object calculates the nearest meeting distance and nearest meeting time between each offshore threat object and the pilot object according to the received information; thirdly, selecting a safety distance, and calculating the interception point position coordinates of each offshore threat target according to the size relation between the latest meeting distance and the latest meeting time; step four, according to the coordinates of the interception points, respectively calculating the interception cost of each unmanned ship in the unmanned ship convoy on each sea threat target; and performing interception task allocation according to the calculated interception cost. The method can be applied to the prediction of the target interception point of the marine threat.
Description
Technical Field
The invention belongs to the field of marine threat target motion forecast, and particularly relates to a marine threat target interception point forecast method and system for unmanned ship cluster convoy.
Background
Potential threats such as pirates can exist when the marine commercial ship carries out freight transportation, and the unmanned ship cluster is adopted to carry out the piloting method, so that the piloting cost can be effectively reduced, and the casualty risk is reduced. Under the navigation scene, the situation that the number of threat targets on the sea is more needs to be considered, and at the moment, each unmanned ship needs to execute a plurality of interception tasks to effectively reduce navigation danger in time.
The marine threat target refers to a marine moving target (including a ship, an unmanned ship and the like) which may cause collision or malicious attack on the piloting object in the piloting process. The current method for calculating the interception points of the marine threat targets in the pilot scene is a parallel approach method, but the method actually adopts the pilot object to approach the calculated interception points in parallel to the marine threat targets, in fact, the pilot object is utilized to intercept the marine threat targets in real theory, and the establishment mode of the interception points deviates from the original purpose of ensuring the safety of the pilot object as much as possible in the pilot scene. If the unmanned aerial vehicle is directly utilized to approach the offshore threat target in parallel to calculate the interception points, each unmanned aerial vehicle can have a set of interception points aiming at all the offshore threat targets. The method and the system enable the subsequent sailing protecting boats to conduct path planning on interception points and task distribution to be disordered, and because interception points of different boats on the same threat target are inconsistent, the subsequent sailing protecting boats cannot be placed on the same layer to conduct path planning and task distribution.
In summary, since the existing parallel approach method deviates from the purpose of protecting the navigation, the effect of protecting the navigation based on the interception points calculated by the existing method is poor, and it is necessary to provide a new interception point calculation method to ensure the navigation effect.
Disclosure of Invention
The invention aims to solve the problem that the effect of protecting the navigation is poor based on the interception points calculated by the existing method, and provides a method for forecasting the target interception points of the marine threat by considering the safety distance.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an offshore threat target interception point forecasting method for unmanned ship cluster piloting, which specifically comprises the following steps:
step one, obtaining the current position (x j ,y j ) Velocity v j And heading theta j J=1, 2,..m, m represents the number of threat targets at sea, the current location of the piloting object is obtained (x o ,y o ) Velocity v o And heading theta o ；
Transmitting the acquired position, speed and course information to the protected navigation object;
step two, the protected object calculates the nearest meeting distance D between each offshore threat object and the protected object according to the received information CPA And a time of last encounter T CPA ；
Step three, selecting a safety distance d c According to the nearest meeting distance D CPA And d c Is related to the size of the time T of the latest meeting CPA Calculating the interception point position coordinates of each offshore threat target;
step four, according to the interception point position coordinates of each offshore threat target, respectively calculating the interception cost of each unmanned ship in the unmanned ship convoy on each offshore threat target;
and performing interception task allocation according to the calculated interception cost, and intercepting the offshore threat target according to the interception task allocation result.
Further, the position, speed and heading of the marine threat target are searched and recorded through a sensor, the position, speed and heading of the piloting object are recorded through combined navigation, and the acquired position, speed and heading information is transmitted to the piloting object through networking communication.
Further, the specific process of the second step is as follows:
step two, for the marine threat target j, calculating a linear distance L between the marine threat target j and the piloting object:
step two, the azimuth angle alpha of the marine threat target j to the piloting object is as follows:
wherein: intermediate variable
Step two, calculating the relative speed and the relative course angle of the marine threat target j and the protected navigation object;
wherein v is r For the relative speed of the threat object j and the piloting object v xr ＝v xj -v x0 ，v yr ＝v yj -v y0 ，v xj Velocity component, v, in the x-axis for an offshore threat object j yj For the velocity component of the threat target j on the y-axis at sea, v x0 Velocity v of piloting object o Velocity component in x-axis, v y0 Velocity v of piloting object o A velocity component on the y-axis;
wherein the intermediate variableθ r The relative course angle of the marine threat target j and the piloting object is set;
step two, four, according to L, alpha, v r And theta r Calculating D between an offshore threat object j and a protected object CPA 、T CPA ；
D CPA ＝L*sin(θ r -α-π)
T CPA ＝L*sin(θ r -α-π)/v r
And step two, executing the processes from the step two to the step four on each offshore threat target.
Further, the specific process of the third step is as follows:
step three, for the offshore threat object j, comparing the nearest meeting distance D between the offshore threat object j and the protected navigation object CPA And d c Is of a size of (2);
if it is closest to distance D CPA D is greater than or equal to d c Executing the third step;
if it is closest to distance D CPA Less than d c Executing the third step;
step three, the nearest meeting distance D will be reached CPA The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
Step three, the reaching safety distance d c The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
Wherein T is r The speed of the marine threat object j when sailing to a safe distance for the marine threat object j.
Further, the methodWhen the sea threat object j sails to a safe distance, the speed T of the sea threat object j r The method comprises the following steps:
wherein Δx is the current distance difference between the marine threat object j and the protected object on the x-axis, Δy is the current distance difference between the marine threat object j and the protected object on the y-axis, Δx=x j -x 0 ，Δy＝y j -y 0 。
Further, the v x0 、v y0 、v xj And v yj The calculation method of (1) is as follows:
wherein v is xj Velocity component, v, in the x-axis for an offshore threat object j yj For the velocity component of the threat target j on the y-axis at sea, v x0 Velocity v of piloting object o Velocity component in x-axis, v y0 Velocity v of piloting object o A velocity component on the y-axis.
In the fourth step, according to the coordinates of the interception points of the threat targets at sea, the interception cost of each unmanned ship on the threat targets at sea in the unmanned ship convoy is calculated; the method comprises the following steps:
step four, the unmanned ship i calculates threat cost of the marine threat target j
Where j=1, 2..m, m represents the number of threat targets at sea, k j The threat degree f of the threat object j at sea j Defenses against a marine threat target j;
step four, calculating the voyage cost of the unmanned ship i
Wherein l ij The path distance from the unmanned ship i to the interception point of the marine threat target j is L 'which is the early warning range'>0；
Step four, three, calculating the steering cost of the unmanned ship i
Wherein, psi is i0 Is the current heading of the unmanned ship i, psi ij The course of the unmanned ship i when intercepting the sea threat target j;
step four, calculating threat cost of the protected object
Wherein d ij When the unmanned ship i intercepts the offshore threat target j, the path distance between the offshore threat target j and the piloting object;
step four, step five, calculating interception cost C of unmanned ship i on offshore threat target j ij ：
Wherein w is 1 、w 2 、w 3 And w 4 Is a weight coefficient, and w 1 +w 2 +w 3 +w 4 ＝1。
The system comprises an offshore threat target state information acquisition module, an underway object state information acquisition module, an interception point position calculation module, an interception cost calculation module and an interception task allocation module;
the offshore threat object state information acquisition module is used for acquiring the current position (x j ,y j ) Velocity v j And heading theta j ；
The piloting object state information acquisition module is used for acquiring the current position (x o ,y o ) Velocity v o And heading theta o ；
The interception point position calculating module is used for calculating the coordinates of interception points of all the marine threat targets; the calculating process of the position coordinates of the interception point comprises the following steps:
for the marine threat object j, calculating a linear distance L between the marine threat object j and the piloting object:
the azimuth α of the marine threat object j to the piloting object is:
wherein: intermediate variable
Calculating the relative speed and the relative course angle of the marine threat target j and the protected navigation object;
wherein v is r For the relative speed of the threat object j and the piloting object v xr ＝v xj -v x0 ，v yr ＝v yj -v y0 ，v xj Velocity component, v, in the x-axis for an offshore threat object j yj For the velocity component of the threat target j on the y-axis at sea, v x0 Velocity v of piloting object o Velocity component in x-axis, v y0 Velocity v of piloting object o A velocity component on the y-axis;
wherein the intermediate variableθ r The relative course angle of the marine threat target j and the piloting object is set;
according to L, alpha, v r And theta r Calculating D between an offshore threat object j and a protected object CPA 、T CPA ；
D CPA ＝L*sin(θ r -α-π)
T CPA ＝L*sin(θ r -α-π)/v r
Distance D is met more recently CPA And d c Is of the size of (2):
if it is closest to distance D CPA D is greater than or equal to d c Then the nearest meeting distance D will be reached CPA The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
If it is closest to distance D CPA Less than d c Then the safe distance d will be reached c The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
Wherein T is r The speed of the marine threat object j when the marine threat object j sails to a safe distance;
similarly, calculating the interception point coordinates of each offshore threat target j;
the interception cost calculation module is used for calculating the interception cost of each unmanned ship in the unmanned ship convoy on each offshore threat target;
the interception task allocation module is used for intercepting task allocation.
Further, the speed T of the marine threat object j when the marine threat object j sails to a safe distance r The method comprises the following steps:
wherein Δx is the current distance difference between the marine threat object j and the protected object on the x-axis, Δy is the current distance difference between the marine threat object j and the protected object on the y-axis, Δx=x j -x 0 ，Δy＝y j -y 0 。
Further, the calculation process of the interception cost is as follows:
unmanned ship i calculates threat cost of marine threat object j
Where j=1, 2..m, m represents the number of threat targets at sea, k j The threat degree f of the threat object j at sea j Defenses against a marine threat target j;
calculating voyage cost of unmanned ship i
Wherein l ij The path distance from the unmanned ship i to the interception point of the marine threat target j is L 'which is the early warning range'>0；
Calculating steering cost of unmanned ship i
Wherein, psi is i0 Is the current heading of the unmanned ship i, psi ij The course of the unmanned ship i when intercepting the sea threat target j;
calculating threat cost of protected object
Wherein d ij When the unmanned ship i intercepts the offshore threat target j, the path distance between the offshore threat target j and the piloting object;
calculating interception cost C of unmanned ship i on offshore threat target j ij ：
Wherein w is 1 、w 2 、w 3 And w 4 Is a weight coefficient, and w 1 +w 2 +w 3 +w 4 ＝1。
The beneficial effects of the invention are as follows:
the method considers the latest meeting distance as a mode for forecasting the interception point in the piloting scene, solves the problems that the interception point is calculated by the parallel approach method in the prior art and deviates from the principle of the piloting purpose, and can improve the piloting effect. Moreover, the calculated interception points are more reasonable, and the interception efficiency of unmanned ship convoy can be effectively improved. Meanwhile, by introducing the safety distance, the navigation safety of the protected navigation object when the distance is over small is ensured.
Drawings
FIG. 1 is a schematic illustration of calculating a nearest meeting distance between an offshore threat target and a protected object;
FIG. 2 is a flow chart of a method of predicting a target interception point of an offshore threat for unmanned ship cluster piloting in accordance with the present invention.
Detailed Description
Detailed description of the inventionthe present embodiment is described with reference to fig. 1 and 2. The method for forecasting the target interception point of the marine threat for unmanned ship cluster piloting in the embodiment specifically comprises the following steps:
step S1, searching and recording the position (x) of each sea threat target j through various sensors by the unmanned ship convoy formation j ,y j ) Velocity v j Heading theta j Information such as corresponding information of the protected object, including position (x) o ,y o ) Velocity v o Heading theta o Etc., and transmits information to the protected object via networking communications.
Before executing step S1, a threat target needs to be determined first, where the method for determining the threat target is:
step 1), acquiring sea surface environment information through carried sensing equipment by an unmanned ship piloting formation, and carrying out information fusion to obtain the navigational speed v and navigational direction theta of a maritime detection target;
step 2), knowing the position of the piloting object (x o ,y o ) Velocity v o Detecting the position (x) j ,y j ) Velocity v j Obtaining an included angle alpha between a speed vector of a detection target and a ray from the detection target to the piloting object, an included angle beta between the speed vector of the piloting object and the ray from the piloting object to the detection target, and an included angle gamma between the speed vector of the detection target and the speed vector of the piloting object;
the detection target is determined to be a threat target in the following cases:
case 1: alpha and beta are acute angles, and alpha+beta is less than 90 degrees;
case 2: alpha and gamma are acute angles, alpha is less than or equal to gamma, and gamma is less than 180 degrees to beta;
case 3: alpha and gamma are acute angles, alpha is more than gamma, and alpha+gamma is less than 90 degrees;
case 4: beta and gamma are acute angles, beta is less than or equal to gamma, and gamma is less than 180 degrees to alpha;
case 5: beta and gamma are acute angles, beta is more than gamma, alpha+gamma is less than 90 degrees;
case 6: alpha, beta and gamma are acute angles.
S2, respectively calculating D between each offshore threat object and the protected object by the protected object according to the related information of the protected object and each offshore threat object CPA And T is CPA 。
As shown in FIG. 1, D CPA And T is CPA The specific calculation mode of (2) is as follows:
the linear distance L between the protected object and the threat target at sea is calculated as follows:
the azimuth angle alpha of the marine threat object to the piloting object is calculated as follows:
wherein,the values are different according to the different relative positions of the two:
the velocity components of the escort object and the offshore threat object on the x, y axes are calculated as follows:
the relative velocity of the two components in x and y axes, the relative velocity v r Relative heading angle θ r The calculation mode of (2) is as follows:
wherein,with v xr And v yr Is transformed by the direction transformation of (a):
the calculation formulas of DCPA and TCPA between the piloting object and the maritime piloting object are as follows:
D CPA ＝L*sin(θ r -α-π)
T CPA ＝L*sin(θ r -α-π)/v r
step S3, selecting a safety distance d c . According to D CPA And d c Selecting a corresponding interception point calculation mode to calculate the interception point position coordinates (X j ,Y j )。
S31, DCPA of the marine threat target and the piloting target is greater than or equal to d c When the target is at the sea, the coordinate of the nearest meeting distance of the target is taken as the interception point coordinate (X j ,Y j ) The concrete calculation mode is as follows:
wherein, (x) j ,y j ) Current location coordinates, v, for an offshore threat target xj And v yj The velocity components of the velocity of the threat target at sea in the x and y axes, respectively.
S32, DCPA of the marine threat target and the piloting target is smaller than d c When in use, the sea threat target sailing safety distance d is taken c The time-of-arrival position coordinates are used as the intercept point coordinates (X j ,Y j ). The concrete calculation mode is as follows:
wherein T is r For the speed of the marine threat object when sailing to the safe distance, the calculation mode is as follows:
wherein Δx and Δy are the distance differences between the marine threat object and the protected object on the x, y axis, respectively, Δx=x j -x 0 ，Δy＝y j -y 0 。
Step S4: and the unmanned ship escort formation calculates corresponding interception cost C according to the calculated coordinates of each interception point, performs task allocation according to the interception cost, and finally intercepts corresponding offshore threat targets according to the allocation result.
S41, calculating threat cost of threat target j by using unmanned piloting ship i
Where j=1, 2..m, m represents the number of threat objects, i=1, 2..n, n represents the number of unmanned aerial vehicles, k j To threat the threat level of the target j, f j Defenses against threat objectives j;
comparing and identifying the type of the threat target through a preset image information base, and defining the threat degree k according to the type j Defensive power f j ；
S42, calculating i voyage cost of unmanned ship for pilot
Wherein l ij For the path distance between the unmanned piloting boat i and the interception point of the threat target j, L ' is an early warning range, L ' '>0；
S43, calculating steering cost of unmanned aerial vehicle i
Wherein, psi is i0 For the current heading of the piloting unmanned ship i,ψ ij intercepting the course of the threat target j for the piloting unmanned ship i;
s44, calculating threat cost of the protected target
Wherein d ij When the threat target j is intercepted for the piloting unmanned ship i, the path distance between the threat target j and the piloting object;
s45, calculating an estimated value C of the unmanned aerial vehicle i for protecting the air to intercept the threat target j ij ：
Wherein w is 1 、w 2 、w 3 、w 4 Is the weight coefficient of three indexes, and w 1 +w 2 +w 3 +w 4 ＝1。
And performing task allocation according to the calculated interception cost, and intercepting the offshore threat target according to the task allocation result.
The task allocation of the present invention may employ the following method, but is not limited to the following method:
step 1, selecting a first unmanned aerial vehicle for piloting which finds a threat target as a merchant, wherein each unmanned aerial vehicle for piloting uses the intercepted threat target as a task, the cost of the intercepted threat target as an estimated value for completing the corresponding task, each unmanned aerial vehicle for piloting calculates the estimated value of the intercepted threat target, the task with the maximum estimated value is selected and sent to the merchant, the merchant determines the number k of unmanned aerial vehicles with conflicts and the number T of initial drop tasks, t=1, 2, …, T and T represent the number of initial drop tasks, and issues an initial drop task set O to each unmanned aerial vehicle;
step 2, updating the price of the initial drop task:
step 201, aiming at an initial drop task t, determining an expected discount value by combining the price of the initial drop task and the estimated value calculated in the step 1, and sending the expected discount value to a merchant, wherein the initial price of each task is equal;
step 202, sorting the received expected discount values from small to large, selecting the unmanned aerial vehicle protected by k-1 unmanned aerial vehicles and the initial drop tasks corresponding to the minimum expected discount values, reducing the price of the corresponding initial drop tasks according to the expected discount values, completing updating the price of the initial drop tasks, removing the corresponding initial drop tasks from the initial drop task set O, turning to step 201 until k-1 unmanned aerial vehicles protected by k-1 unmanned aerial vehicles are selected, and turning to step 3;
in step 2, the unmanned aerial vehicle i determines an expected discount value c according to the initial drop task t and the price of the initial drop task and the estimated value calculated in step 1 it The method comprises the following steps:
c it ＝v i -u t
wherein v is i Is the maximum profit value of the unmanned aerial vehicle i currently for all initial drop tasks,representing the maximum estimate of the unmanned aerial vehicle i for all tasks, u t Is the current profit value of the unmanned aerial vehicle i with respect to the initial drop mission t, u t ＝C it -p t The price of the initial drop task is p t 。
Step 3, calling a strategy pricing algorithm to allocate the unmanned aerial vehicle which still has conflict, and completing task allocation;
and 4, correspondingly intercepting the offshore threat target by the unmanned aerial vehicle according to the distribution result.
The system comprises an offshore threat target state information acquisition module, a navigation object state information acquisition module, an interception point position calculation module, an interception cost calculation module and an interception task allocation module;
the offshore threat object state information acquisition module is used for acquiring the current position (x j ,y j ) Velocity v j And heading theta j ；
The piloting object state information acquisition module is used for acquiring the current position (x o ,y o ) Velocity v o And heading theta o ；
The interception point position calculating module is used for calculating the coordinates of interception points of all the marine threat targets; the calculating process of the position coordinates of the interception point comprises the following steps:
for the marine threat object j, calculating a linear distance L between the marine threat object j and the piloting object:
the azimuth α of the marine threat object j to the piloting object is:
wherein: intermediate variable
Calculating the relative speed and the relative course angle of the marine threat target j and the protected navigation object;
wherein v is r For the relative speed of the threat object j and the piloting object v xr ＝v xj -v x0 ，v yr ＝v yj -v y0 ，v xj Velocity component, v, in the x-axis for an offshore threat object j yj For the velocity component of the threat target j on the y-axis at sea, v x0 Velocity v of piloting object o In the x-axisVelocity component, v y0 Velocity v of piloting object o A velocity component on the y-axis;
wherein the intermediate variableθ r The relative course angle of the marine threat target j and the piloting object is set;
according to L, alpha, v r And theta r Calculating D between an offshore threat object j and a protected object CPA 、T CPA ；
D CPA ＝L*sin(θ r -α-π)
T CPA ＝L*sin(θ r -α-π)/v r
Distance D is met more recently CPA And d c Is of the size of (2):
if it is closest to distance D CPA D is greater than or equal to d c Then the nearest meeting distance D will be reached CPA The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
If it is closest to distance D CPA Less than d c Then the safe distance d will be reached c The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
Wherein T is r The speed of the marine threat object j when the marine threat object j sails to a safe distance;
when the sea threat object j sails to the safe distance, the speed T of the sea threat object j r The method comprises the following steps:
wherein Δx is the current distance difference between the marine threat object j and the protected object on the x-axis, Δy is the current distance difference between the marine threat object j and the protected object on the y-axis, Δx=x i -x 0 ，Δy＝y i -y 0 ；
Similarly, calculating the interception point coordinates of each offshore threat target j;
the interception cost calculation module is used for calculating the interception cost of each unmanned ship in the unmanned ship convoy on each offshore threat target;
the calculation process of the interception cost comprises the following steps:
unmanned ship i calculates threat cost of marine threat object j
Where j=1, 2..m, m represents the number of threat targets at sea, k j The threat degree f of the threat object j at sea j Defenses against a marine threat target j;
calculating voyage cost of unmanned ship i
Wherein l ij The path distance from the unmanned ship i to the interception point of the marine threat target j is L 'which is the early warning range'>0；
Calculating steering cost of unmanned ship i
Wherein, psi is i0 Is the current heading of the unmanned ship i, psi ij The course of the unmanned ship i when intercepting the sea threat target j;
calculating threat cost of protected object
Wherein d ij When the unmanned ship i intercepts the offshore threat target j, the path distance between the offshore threat target j and the piloting object;
calculating interception cost C of unmanned ship i on offshore threat target j ij ：
Wherein w is 1 、w 2 、w 3 And w 4 Is a weight coefficient, and w 1 +w 2 +w 3 +w 4 ＝1；
The interception task allocation module is used for intercepting task allocation.
The above examples of the present invention are only for describing the calculation model and calculation flow of the present invention in detail, and are not limiting of the embodiments of the present invention. Other variations and modifications of the above description will be apparent to those of ordinary skill in the art, and it is not intended to be exhaustive of all embodiments, all of which are within the scope of the invention.
Claims (10)
1. The method for forecasting the target interception point of the marine threat for unmanned ship cluster convoy is characterized by comprising the following steps:
step one, obtaining the current position (x j ,y j ) Velocity v j And heading theta j J=1, 2,..m, m represents the number of threat targets at sea, the current location of the piloting object is obtained (x o ,y o ) Velocity v o And heading theta o ；
Transmitting the acquired position, speed and course information to the protected navigation object;
step two, the protected object calculates the nearest meeting distance D between each offshore threat object and the protected object according to the received information CPA And a time of last encounter T CPA ；
Step three, selecting a safety distance d c According to the nearest meeting distance D CPA And d c Is related to the size of the time T of the latest meeting CPA Calculating the interception point position coordinates of each offshore threat target;
step four, according to the interception point position coordinates of each offshore threat target, respectively calculating the interception cost of each unmanned ship in the unmanned ship convoy on each offshore threat target;
and performing interception task allocation according to the calculated interception cost, and intercepting the offshore threat target according to the interception task allocation result.
2. The method for predicting the interception point of an offshore threat target for unmanned ship cluster piloting according to claim 1, wherein the position, speed and heading of the offshore threat target are searched and recorded by a sensor, the position, speed and heading of the piloting object are recorded by combined navigation, and the acquired position, speed and heading information is transmitted to the piloting object by networking communication.
3. The method for forecasting the target interception point of the marine threat for unmanned ship cluster piloting according to claim 2, wherein the specific process of the second step is as follows:
step two, for the marine threat target j, calculating a linear distance L between the marine threat target j and the piloting object:
step two, the azimuth angle alpha of the marine threat target j to the piloting object is as follows:
wherein: intermediate variable
Step two, calculating the relative speed and the relative course angle of the marine threat target j and the protected navigation object;
wherein v is r For the relative speed of the threat object j and the piloting object v xr ＝v xj -v x0 ，v yr ＝v yj -v y0 ，v xj Velocity component, v, in the x-axis for an offshore threat object j yj For the velocity component of the threat target j on the y-axis at sea, v x0 Velocity v of piloting object o Velocity component in x-axis, v y0 Velocity v of piloting object o A velocity component on the y-axis;
wherein the intermediate variableθ r The relative course angle of the marine threat target j and the piloting object is set;
step two, four, according to L, alpha, v r And theta r Calculating D between an offshore threat object j and a protected object CPA 、T CPA ；
D CPA ＝L*sin(θ r -α-π)
T CPA ＝L*sin(θ r -α-π)/v r
And step two, executing the processes from the step two to the step four on each offshore threat target.
4. The method for forecasting the target interception point of the marine threat for unmanned ship cluster piloting according to claim 3, wherein the specific process of the third step is as follows:
step three, for the offshore threat object j, comparing the nearest meeting distance D between the offshore threat object j and the protected navigation object CPA And d c Is of a size of (2);
if it is closest to distance D CPA D is greater than or equal to d c Executing the third step;
if it is closest to distance D CPA Less than d c Executing the third step;
step three, the nearest meeting distance D will be reached CPA The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
Step three, the reaching safety distance d c The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
Wherein T is r The speed of the marine threat object j when sailing to a safe distance for the marine threat object j.
5. The method for predicting the point of interception of a target at sea for unmanned aerial vehicle cluster trim of claim 4, wherein the speed T of the target at sea j is determined when the target at sea j is sailing to a safe distance r The method comprises the following steps:
wherein Δx is the current distance difference between the marine threat object j and the protected object on the x-axis, Δy is the current distance difference between the marine threat object j and the protected object on the y-axis, Δx=x j -x 0 ，Δy＝y j -y 0 。
6. The method for marine threat target interception point prediction for unmanned ship cluster piloting of claim 5, wherein v is x0 、v y0 、v xj And v yj The calculation method of (1) is as follows:
wherein v is xj Velocity component, v, in the x-axis for an offshore threat object j yj For the velocity component of the threat target j on the y-axis at sea, v x0 Velocity v of piloting object o Velocity component in x-axis, v y0 Velocity v of piloting object o A velocity component on the y-axis.
7. The method for forecasting the interception point of the marine threat target for the unmanned ship cluster piloting according to claim 6, wherein in the fourth step, according to the coordinates of the interception point of each marine threat target, the interception cost of each unmanned ship in the unmanned ship piloting formation to each marine threat target is calculated respectively; the method comprises the following steps:
step four, the unmanned ship i calculates threat cost of the marine threat target j
Where j=1, 2..m, m represents the number of threat targets at sea, k j The threat degree f of the threat object j at sea j Defenses against a marine threat target j;
step four, calculating the voyage cost of the unmanned ship i
Wherein l ij The path distance from the unmanned ship i to the interception point of the marine threat target j is L 'which is the early warning range'>0；
Step four, three, calculating the steering cost of the unmanned ship i
Wherein, psi is i0 Is the current heading of the unmanned ship i, psi ij The course of the unmanned ship i when intercepting the sea threat target j;
step four, calculating threat cost of the protected object
Wherein d ij When the unmanned ship i intercepts the offshore threat target j, the path distance between the offshore threat target j and the piloting object;
step four, step five, calculating interception cost C of unmanned ship i on offshore threat target j ij ：
Wherein w is 1 、w 2 、w 3 And w 4 Is a weight coefficient, and w 1 +w 2 +w 3 +w 4 ＝1。
8. The marine threat target interception point prediction system for unmanned ship cluster piloting is characterized by comprising a marine threat target state information acquisition module, a piloting object state information acquisition module, an interception point position calculation module, an interception cost calculation module and an interception task allocation module;
the offshore threat object state information acquisition module is used for acquiring the current position (x j ,y j ) Velocity v j And heading theta j ；
The piloting object state information acquisition module is used for acquiring the piloting objectCurrent position (x) o ,y o ) Velocity v o And heading theta o ；
The interception point position calculating module is used for calculating the coordinates of interception points of all the marine threat targets; the calculating process of the position coordinates of the interception point comprises the following steps:
for the marine threat object j, calculating a linear distance L between the marine threat object j and the piloting object:
the azimuth α of the marine threat object j to the piloting object is:
wherein: intermediate variable
Calculating the relative speed and the relative course angle of the marine threat target j and the protected navigation object;
wherein v is r For the relative speed of the threat object j and the piloting object v xr ＝v xj -v x0 ，v yr ＝v yj -v y0 ，v xj Velocity component, v, in the x-axis for an offshore threat object j yj For the velocity component of the threat target j on the y-axis at sea, v x0 Velocity v of piloting object o Velocity component in x-axis, v y0 Velocity v of piloting object o A velocity component on the y-axis;
wherein the intermediate variableθ r The relative course angle of the marine threat target j and the piloting object is set;
according to L, alpha, v r And theta r Calculating D between an offshore threat object j and a protected object CPA 、T CPA ；
D CPA ＝L*sin(θ r -α-π)
T CPA ＝L*sin(θ r -α-π)/v r
Distance D is met more recently CPA And d c Is of the size of (2):
if it is closest to distance D CPA D is greater than or equal to d c Then the nearest meeting distance D will be reached CPA The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
If it is closest to distance D CPA Less than d c Then the safe distance d will be reached c The position coordinates of the threat target j at sea are used as the interception point coordinates (X j ,Y j )：
Wherein T is r The speed of the marine threat object j when the marine threat object j sails to a safe distance;
similarly, calculating the interception point coordinates of each offshore threat target j;
the interception cost calculation module is used for calculating the interception cost of each unmanned ship in the unmanned ship convoy on each offshore threat target;
the interception task allocation module is used for intercepting task allocation.
9. The marine threat target interception point prediction system for unmanned ship cluster trim of claim 8, wherein the speed T of the marine threat target j when the marine threat target j is sailing to a safe distance r The method comprises the following steps:
wherein Δx is the current distance difference between the marine threat object j and the protected object on the x-axis, Δy is the current distance difference between the marine threat object j and the protected object on the y-axis, Δx=x j -x 0 ，Δy＝y j -y 0 。
10. The marine threat target interception point prediction system for unmanned ship cluster piloting of claim 9, wherein the interception cost calculation process is:
unmanned ship i calculates threat cost of marine threat object j
Where j=1, 2..m, m represents the number of threat targets at sea, k j The threat degree f of the threat object j at sea j Defenses against a marine threat target j;
calculating voyage cost of unmanned ship i
Wherein l ij The path distance from the unmanned ship i to the interception point of the marine threat target j is L 'which is the early warning range'>0；
Calculating steering cost of unmanned ship i
Wherein, psi is i0 Is the current heading of the unmanned ship i, psi ij The course of the unmanned ship i when intercepting the sea threat target j;
calculating threat cost of protected object
Wherein d ij When the unmanned ship i intercepts the offshore threat target j, the path distance between the offshore threat target j and the piloting object;
calculating interception cost C of unmanned ship i on offshore threat target j ij ：
Wherein w is 1 、w 2 、w 3 And w 4 Is a weight coefficient, and w 1 +w 2 +w 3 +w 4 ＝1。
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