CN104317305B - A kind of front flight path of penetrating threatened towards complicated battlefield determines method - Google Patents
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- CN104317305B CN104317305B CN201410575003.8A CN201410575003A CN104317305B CN 104317305 B CN104317305 B CN 104317305B CN 201410575003 A CN201410575003 A CN 201410575003A CN 104317305 B CN104317305 B CN 104317305B
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Abstract
A kind of front flight path of penetrating threatened towards complicated battlefield determines method, in order to realize that jump gliding type Step atmospheric layers vehicle is effectively evaded to what complicated battlefield threatened, aircraft is judged with the relative position for threatening area using the computational methods based on spherical geometry, threaten battlefield and intuitively shown with aircraft's flight track.By setting up flight track object of planning function, using based on the preferred flight path iteration mechanism of many algorithms self adaptation, the rapid solving of multiple constraint trajectory planning problem is realized.The present invention can be before vehicle launch, consider battlefield surroundings constraint and flight performance is constrained, cook up the fast optimal trajectory of a survival ability is strong, penetraton probability height, blow speed, flying instrument is made for rapid strike time critical target and in-flight evades the ability of threat, be that the formation of jump gliding type Step atmospheric layers vehicle system combat ability lays the foundation.
Description
Technical field
The invention belongs to control field, is related to a kind of determination method that aircraft penetrates front flight path.
Background technology
IT-based warfare is the inexorable trend of information age war development.Network in Information Times system covers the scope on region of war
Expanding day, the real-time of operation, concertedness constantly strengthen.Effect operation, non-contact fighting, asymmetric war, run quickly at a distance
Attack the patterns such as war, depth precision strike, cooperation and Integrative Joint Operations Simulation and substantially increase fighting efficiency.Mission planning exists
Extremely important effect is played in IT-based warfare, its application level decides the level of information-based operation in great significance
And ability.
Since the eighties in 20th century, countries in the world have carried out the research work of aircraft mission planning technology one after another, appoint
Business planning problem is progressively taken seriously in fields such as control science, air science, information sciences.Research worker is studying various
On the basis of planing method, by multi-disciplinary intersection and with reference to artificial intelligence, decision-making theory and modeling and optimization technology, solution
Determine a series of representative mission planning problems, and developed multiple-task planning system (Mission Planning
System, MPS).
Trajectory planning is the basic problem of aircraft mission planning, its essence be comprehensive consideration of flight vehicle time of advent,
Oil consumption, threat and can be flight track that aircraft cooks up optimum or satisfaction on the premise of the factor such as flight range, with
Guarantee satisfactorily completes aerial mission and comes back to the base safely.Trajectory planning technology has been widely used in aircraft, water surface warship
In the navigation system of ship, surface car and robot etc..
The U.S. is the country for carrying out trajectory planning technical research earliest.Initially, USAF rely spy aeronautical laboratory in order to
Mitigate the survivability of the work load, the effectiveness of raising execution task and aircraft of pilot, using civil aircraft flight management system
Experience and achievement, four-dimensional navigation and energy management technology are used for into the flight management of fighter plane, it is proposed that Tactical Flight Management
The concept of system.The core of tactical flight management system is Track Pick-up and track following, with the proviso that the generation of optimal trajectory,
That is trajectory planning.At present, the task grouping that U.S. army develops has developed to the third generation, and continues towards raising efficiency and reduction
The aspects such as system cost develop.Other countries have also carried out corresponding trajectory planning technical research, and Britain has successively developed " explores the way
2000 task grouping of person " and advanced mission planning device, France have been also carried out the development of three sequence of tasks planning systems.
Trajectory planning technology has Preliminary Applications on the weapon platforms such as unmanned plane, cruise missile at present.Common boat
Model is simplified by mark planing method when processing and threatening area, only considers that the threat in two dimensional surface is evaded, that is, assume to fly
Row device is highly constant, and area will be threatened to be thought of as the round region in the plane.And for possess endoatmosphere jump gliding it is new
Formula aircraft, as which has the maneuvering flight on a large scale of transverse and longitudinal in flight course, the particularity of its trajectory form is determined
Traditional treatment method to threatening area is no longer suitable for.In addition, traditional method is to the pact in aerocraft real flight course
Beam condition considers less, causes the result of trajectory planning often to have larger deviation with practical situation.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided a kind of jump gliding type is across air
The quick flight path that layer aircraft is faced under complicated battlefield threatens determines method, can be before vehicle launch, by battlefield prestige
The solid modelling in side of body source, it is proposed that with the trajectory planning of the multiparameters such as enemy's threat, penetraton probability, flight time, motor-driven number of times
Target function model, can consider battlefield surroundings constraint and flight performance constraint, search out a survival ability is strong, dash forward
Anti- probability is high, the optimal trajectory that blow speed is fast, makes flying instrument for rapid strike time critical target and in-flight evades threat
Ability.
The present invention technical solution be：A kind of front flight path of penetrating threatened towards complicated battlefield determines method, including such as
Lower step：
(1) launch point longitude and latitude of the aircraft in transmitting is obtained, the longitude and latitude that impact point is located threatens district center point
Longitude and latitude, and threaten the radius in area；
(2) condition be given according to step (1), determines the flight track of an aircraft as initial flight path；
(3) initial flight path is segmented, then with the initial flight path after segmentation as initial condition, with the generation of flight path performance
The minimum target of value of valency function C, is iterated resolving using trajectory planning searching algorithm, determines that the optimum of aircraft flies
Row flight path；
The cost function C of the flight path performance is expressed as：
In formula, i=1,2 ... n are track segmentation；fTAi、Pi、Ti、AiEnemy on respectively i-th section track segmentation threatens,
Penetraton probability, flight time and the nondimensionalization of motor-driven number of times represent, w1～w4It is and enemy's threat, penetraton probability, flight time
The weight coefficient corresponding with motor-driven number of times, meets w1+w2+w3+w4=1；
βjFor multiplier factor, the β when j-th threat early warning information is not receivedj=1, otherwise βj>1, j=1,2 ... m are
Related threat area quantity, R on i-th section of track segmentationjFor the radius in j-th threat area, SCDjIt is from j-th threat district center
Point makees the great circle arc length perpendicular to orthodrome to the orthodrome between launch point and impact point, and described orthodrome crosses ground for the center of circle
The heart, circular arc of the radius for earth radius；CiFor the target function value of i-th section of track segmentation, PiSpan between 0 to 1,
The penetraton probability of aircraft is higher, PiValue is bigger, TiSpan in second level, AiValue between 0 to 10, motor-driven number of times
It is more, AiValue is bigger.
It is pseudo- that described trajectory planning searching algorithm includes but is not limited to direct shooting method, Gauss puppet spectrometry, adaptive Gauss
Spectrometry, sparse A* algorithms, particle swarm optimization, simulated annealing or genetic algorithm.
Present invention advantage compared with prior art is：
(1) Computing Principle of the inventive method based on spherical geometry, it is proposed that the three-dimensional modeling method for threatening source,
And give flight track and threaten the decision method of area's relative position, so as to compensate for that threat is evaded simplification in prior art
Into the deficiency of plane treatment so that flight track is fought closer to true with the judgement for threatening zone position relation, and accuracy is higher；
(2) the inventive method proposes consideration enemy's threat, penetraton probability, flight time, the trajectory planning of motor-driven number of times
Object function determines method, and above-mentioned parameter has been carried out dimensionless statement, only considers to threaten area, do not have in solving prior art
Consider that aircraft is likely to occur the increase flight time during hiding threat area, is excessively caused due to motor-driven number of times failure etc. to ask
Topic.Above-mentioned quadrinomial parameter is considered by the inventive method, defines the trajectory planning of various dimensions so that the result of planning is accurate
Du Genggao, the condition for covering are wider, are more nearly true operation.
Description of the drawings
Flow charts of the Fig. 1 for the inventive method；
Fig. 2 is the illustraton of model that the present invention threatens area；
Fig. 3 threatens area and track points position relationship schematic diagram for the present invention.
Specific embodiment
As shown in figure 1, for the flow chart of the inventive method, comprising the following steps that：
(1) before vehicle launch, it is first determined the initiation parameter of outside input, initialized purpose is for method
Enforcement be prepared.Initiation parameter includes " launch point longitude and latitude ", " impact point longitude and latitude ", " threat district center point longitude and latitude
Degree " and " threatening area's radius "；
(2) set up and threaten section model, and determine whether flight path leaps the decision criteria for threatening area.
Area and flight track only threatened and there is two kinds of situations, i.e. flight track with the relative position for threatening area in flight track
Cross threat area.Specifically judge that step is：Calculate and threaten district center point to the distance of any point place orthodrome on flight path, sentence
Which break with the relation for threatening area's radius, such as arc length only threatens area more than radius, i.e. flight path, if arc length is less than radius, i.e. flight path
Cross threat area.
Threaten section model schematic diagram as indicated with 2, according to initial input parameter, aircraft initial point is P0, its longitude and latitude point
Wei not θ0、φ0, distal point is Pf, its longitude and latitude is respectively θf、φf, arctic point is Pn, use AfRepresent initial point P0To distal point Pf
Orthodrome (center of circle is the earth's core, and radius is earth radius) and initial point direct north angle, it is suitable on the basis of direct north
Hour hands are just 0≤Af<2 π, represent initial point P with σ0To distal point PfOrthodrome, SfArc length corresponding to σ.
By the spherical triangle P in Fig. 20PnPfCan obtain：
Then can be obtained by formula (1) and formula (2)：
Therefore association type (3) and formula (4) can be obtained：
Due to AfGenerally all between 0～π, so directly negate cosine, the no matter longitude and latitude of current point
Be on the occasion of or negative value above formula all set up.
Make Δ θ=θf-θ0, can be obtained by formula (5)：
Then have：
Sf=arccos (sin φfsinφ0+cosφfcosφ0cosΔθ) (7)
As shown in figure 3, C (LC,BC) point for threat source central point, its radius be R, point D was that C points make arc P0PfHang down
The intersection point of line and arc, if its coordinate is (LD,BD), it is known that the geodetic coordinates of C, D, S can be obtained by formula (7)CDIf, SCDMore than R, say
Outside area is threatened, i.e., flight track place circular arc crosses threat area to bright D points, but flight track only threatens area；Otherwise, illustrate D
Point is being threatened within area, i.e., flight track crosses threat area.
(3) for the population parameter of different aircraft, set up trajectory planning target function model, by the impact of each side because
Element is converted according to respective standard, is then obtained sign flight path in the weight of aggregative indicator according to each single index and is comprehensively referred to
Target dimensionless number.
According to mission requirements, the influence factor of flight path performance mainly consider it is following some：Enemy's threat, penetraton probability, fly
Row time, motor-driven number of times.
For the ease of analysis, whole flight track is divided into some sections, then the cost function model of flight path performance can be represented
For：
In formula, i=1,2 ... are track segmentation；fTAi、Pi、Ti、AiRespectively on track segmentation, enemy threatens, dashes forward anti-general
Rate, flight time and the nondimensionalization of motor-driven number of times represent, w1～w4For respective weight coefficient, meet：
w1+w2+w3+w4=1
In formula, fTAiFor the threat index of i-th section of flight path section, it limits aircraft should not be with known ground based threats distance
It is too near so that aircraft is as far as possible by threatening less region flight；
J=1,2 ... m are threat area quantity related on i-th section of track segmentation, RjFor the radius in j-th threat area, SCDj
It is to make the great circle arc length perpendicular to orthodrome, β from j-th threat district center point to the orthodrome between launch point and impact pointj
For a multiplier factor, the β when j-th threatens does not receive early warning informationj=1, otherwise βj>1, C hereiTo be segmented flight path target
The value of functional value, i.e. above-mentioned formula (8) in i sections.PiFor the penetraton probability of i-th section of flight path section, characterize this section of flight path and break through enemy
The probability of square missile defense systems, PiDetermined by aircraft feature, its span between 0 to 1, dash forward here by aircraft
Anti- probability is higher, and the value value is bigger；TiFor the flight time of i-th section of flight path section, total flight time is fewer, and fighting efficiency is got over
Excellent, flight time of the different aircraft in segmentation flight path is different, and its span is in second level；AiFor the machine of i-th section of flight path section
Dynamic number of times, the motor-driven number of times of aircraft are more, and fault rate is higher, therefore the flying method that motor-driven number of times should be selected few here, AiTake
, generally between 0 to 10, motor-driven number of times is more, and value is bigger for value.
The evaluation of flight path performance is substantially just to solve for the consolidated statement value indicative of every flight path, that is, select under C minimums
fTAi、Pi、Ti、AiValue.Here the process for solving really calculates a flight path with aircraft kinesiology, kinetic model,
Then according to above-mentioned formula carries out route evaluation, target function value is obtained, then with the following continuous iteration of Path Planning,
Last iteration goes out the C values of optimum, in fact fTAi、Pi、Ti、AiIn it is most important or pass through fTAiThe anti-flight path that solves meets optimum boat
Track points D of mark, then all of track points D are just grouped together into optimal trajectory.
As trajectory planning searching algorithm is various, needs to set up Path Planning data base simultaneously here, specifically include
Directly shooting method, Gauss puppet spectrometry, adaptive Gauss puppet spectrometry, sparse A* algorithms, particle swarm optimization, simulated annealing, heredity is calculated
Method etc..
(4) judge whether into trajectory planning Iterative, if starting to resolve into step (5)；If battlefield surroundings or
Target information changes, and needs to re-enter initial information or constraints, reenters step (2)；
(5) iterative algorithm is selected from algorithm data-base, as the optimal trajectory that the present invention is generated is at the beginning of aircraft
Begin what is bound, therefore the selection to algorithm should be with reliability, rapidity, practicality as principle, if the algorithm for selecting is in step (6)
In cannot iteration go out optimal solution, iterative algorithm can be reselected from remaining algorithm；
(6) if algorithmic statement obtains optimal solution into step (7)；If iteration cannot restrain, step (5) is reentered；
(7) trajectory planning terminates.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a kind of front flight path of penetrating threatened towards complicated battlefield determines method, it is characterised in that comprise the steps：
(1) launch point longitude and latitude of the aircraft in transmitting is obtained, the longitude and latitude that impact point is located threatens the longitude and latitude of district center point
Degree, and threaten the radius in area；
(2) condition be given according to step (1), determines the flight track of an aircraft as initial flight path；
(3) initial flight path is segmented, then with the initial flight path after segmentation as initial condition, with the cost letter of flight path performance
The minimum target of value of number C, is iterated resolving using trajectory planning searching algorithm, determines the optimum flight boat of aircraft
Mark；Described trajectory planning searching algorithm include but is not limited to direct shooting method, Gauss puppet spectrometry, adaptive Gauss puppet spectrometry,
Sparse A* algorithms, particle swarm optimization, simulated annealing or genetic algorithm；
The cost function C of the flight path performance is expressed as：
In formula, i=1,2 ... n are track segmentation；fTAi、Pi、Ti、AiEnemy on respectively i-th section track segmentation threatens, dashes forward anti-
Probability, flight time and the nondimensionalization of motor-driven number of times represent, w1～w4It is and enemy's threat, penetraton probability, flight time and machine
The corresponding weight coefficient of dynamic number of times, meets w1+w2+w3+w4=1；
βjFor multiplier factor, the β when j-th threat early warning information is not receivedj=1, otherwise βj>1, j=1,2 ... m are i-th section
Related threat area quantity, R on track segmentationjFor the radius in j-th threat area, SCDjBe from j-th threaten district center point to send out
Orthodrome between exit point and impact point makees the length of the orthodrome perpendicular to the orthodrome, and described orthodrome crosses ground for the center of circle
The heart, circular arc of the radius for earth radius；CiFor the target function value of i-th section of track segmentation, PiSpan between 0 to 1,
The penetraton probability of aircraft is higher, PiValue is bigger, TiSpan in second level, AiValue between 0 to 10, motor-driven number of times
It is more, AiValue is bigger.
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| CN105469153B (en) * | 2015-11-25 | 2019-05-21 | 中国电子科技集团公司第二十八研究所 | A kind of air situation sharing means ordered based on system |
| CN105841703A (en) * | 2016-03-15 | 2016-08-10 | 电子科技大学 | Calculating method for optimal route of unmanned aerial vehicle used for positioning object in threat environment |
| CN105929847B (en) * | 2016-06-24 | 2018-12-18 | 南京奇蛙智能科技有限公司 | A kind of unmanned plane follows the judgment method of destination reliability |
| CN108089594B (en) * | 2017-12-13 | 2020-11-27 | 王俊梅 | Unmanned aerial vehicle sight dead angle steering escape flight method |
| CN112148024B (en) * | 2020-08-20 | 2022-04-08 | 中国人民解放军海军航空大学 | Unmanned aerial vehicle real-time online flight path planning method based on self-adaptive pseudo-spectral method |
| CN112182501B (en) * | 2020-08-21 | 2023-11-17 | 中国人民解放军93114部队 | Method and device for calculating burst prevention probability of cruise missile |
| CN113536528B (en) * | 2021-05-14 | 2022-05-17 | 中国人民解放军军事科学院评估论证研究中心 | Early warning aircraft tactical behavior simulation method and system under non-convoy condition |
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