Research On Mission Planning Algorithm Of Flying Weapon Under Dynamic Conditions

Driven by the rapid development of military technology and the ever-changing forms and requirements of military struggles,the system of flying weapon is becoming more and more perfect.Among all the types of flying weapon,the one which undertakes anti-ship missions plays an important role in the modern naval warfare.There are many types of battlefield elements and the battle environment is changing rapidly in modern naval warfare.In order to improve the overall operational effectiveness and reliability of the flying weapon system,and to achieve a higher level of multi-flying-weapon coordinated operations,it is necessary to allocate and coordinate tasks in accordance with the dynamic characteristics of the battlefield environment.The design and development of mission planning algorithms and systems to is of great significance for providing commanders with auxiliary decision support in the complex and changeable battlefield and improving the combat capabilities of flying weapons.This paper takes anti-ship flying weapons as the research object,considers the dynamic elements in the battlefield environment,and conducts research on mission planning algorithms.According to the characteristics and requirements of anti-ship flying weapons under dynamic conditions,model the combat entities and elements,design dynamic target allocation and flying trajectory planning algorithms based on the model,and develop a comprehensive mission planning simulation system to simulate actual application scenarios of multi-flying weapons fighting against multiple ships.The main research contents of this paper are:The dynamic mission planning model of the flying weapons is designed.The target allocation problem is regarded as a nonlinear integer optimization problem under multiple constraints,and the flying trajectory planning problem is regarded as a trajectory point search problem that satisfies a specific index.In the target allocation model,the total objective function is considered as a linear combination of damage effectiveness function,counterattack potential function,and combat cost function.Rules the basic elements of the flying weapons and target ships,and shows the way of calculating the reliability and damage probability of flying weapons.In the flying trajectory planning model,the task space is divided into obstacle space and airworthy space according to the distribution of threat areas,and specific forms of constraints are given,including initial value constraints,final value constraints,obstacle constraints and cooperative constraints.The target allocation algorithm is designed for flying weapons under dynamic conditions based on the target allocation model.The algorithm is based on the Discrete Particle Swarm Optimization algorithm for multi-target scheduling.Proposes "Disaster plan" referring to the natural selection in evolutionism and "Shadow population" referring to Simulated Annealing as the improvement strategies of the algorithm,compares the improvement strategy with the original algorithm quantitatively to verify the effect of the improvement strategy.In view of the dynamic characteristics of the battlefield,the algorithmic decision-making scheme is extended from a one-time strike to a multi-stage strike of "shooting-observation-shooting".Based on the target allocation algorithm,the simulation of strike scheme planning under different regulations of target value loss threshold and multi-wave strike simulation under dynamic conditions are carried out.The dynamic factors considered mainly include the change of number and value of target ships,the change of number and the counterattack potential of flying weapons in the progress of the combat phase.At the same time,based on the assumption of limited reconnaissance accuracy,an uncertainty model is given and simulated.The additional dynamic factors in the uncertainty model include the target being judged as a false target and the emergence of a valuable target ship.The flight weapon trajectory planning algorithm is designed for flying weapons under dynamic conditions based on the flying trajectory planning model.the algorithm is divided into two levels: global trajectory planning and real-time trajectory planning.The global trajectory planning algorithm is based on the Rapidly-expanding Random Tree algorithm,and for its low convergence efficiency,poor repeatability,poor optimality,etc.,it applies goal-oriented,additional constraints,two-way expansion and trajectory simplification and other improvements.It is applied to the global trajectory planning of single-weapon strikes and multi-weapon coordinated strikes under the restriction of obstacle zones.The real-time flying trajectory planning algorithm is based on the Velocity Obstacle algorithm.It plans the real-time heading of the flying weapon based on the real-time position and velocity of the flying weapons and the dynamic obstacle zones,and applies it to real-time trajectory planning in the application scenarios for coordinated attack of multiple weapons under the constraint of the dynamic obstacle zone.The dynamic factors considered include the position and velocity of flying weapons and the real-time distribution of dynamic obstacle areas.The simulation of the mission planning system for flying weapons under dynamic conditions is realized based on the target allocation algorithm and the flying trajectory planning algorithm under dynamic conditions.Target allocation simulation mainly verifies the strike plan given under different regulations of target value loss threshold and the comparison of target ship damage with target value loss threshold as a variable.The dynamic multi-wave strike simulation based on prior probability mainly verifies the changes in the value of the target ships,the use of anti-aircraft missiles,the damage and the using and hitting conditions of the flying weapons in each strike stage of the battle.The dynamic multi-wave strike simulation based on the uncertainty of the posterior event mainly verifies the necessity of retaining the counterattack potential and the algorithm can respond immediately in the next stage of planning after a valuable target emerges.The global flying trajectory planning simulation verifies the effectiveness of the algorithm and the improved scheme,and gives the key nodes of safe and effective trajectory that executes tasks for a single weapon or the coordination with multiple weapons.Real-time flying trajectory planning simulation verifies the effectiveness of the conflict resolution and obstacle avoidance schemes for multi-flying weapons cooperatively executing tasks under dynamic obstacle conditions,and realizes dynamic obstacle avoidance.The track points of the additional time dimension are solved,and the survival reliability of the flying weapons is quantitatively analyzed.