基于最优探测航线椭圆拟合的战斗巡逻规划方法

李乐言; 杨任农; 王瑛; 李寰宇; 吴傲; 岳龙飞

doi:10.13700/j.bh.1001-5965.2022.0978

基于最优探测航线椭圆拟合的战斗巡逻规划方法

doi: 10.13700/j.bh.1001-5965.2022.0978

空军工程大学空管领航学院，西安 710051

基金项目:

国家社会科学基金(2022-SKJJ-A-002)

详细信息

通讯作者:
E-mail：yingwangkgd@163.com

中图分类号: V323.1
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出版历程
- 收稿日期: 2022-12-08
- 录用日期: 2023-02-20
- 网络出版日期: 2023-02-28
- 整期出版日期: 2025-01-31

CAP planning method based on elliptic fitting of optimal detection routes

Air Traffic Control and Navigation School，Air Force Engineering University，Xi’an 710051，China

Funds:

National Social Science Fund of China (2022-SKJJ-A-002）

More Information

Corresponding author: E-mail：yingwangkgd@163.com

摘要

摘要:
针对远海弱情报支援背景下的空中编队战斗巡逻规划问题，提出了一种新的基于最优探测航线椭圆拟合的巡逻空域规划方法。以协同概率探测面积作为遗传算法的适应度函数，求解最优飞机协同探测航线，根据初始航路点列的统计学特征，提出了基于几何距离的双点移除椭圆拟合方法，求解航空兵实际可用的椭圆航线及对应巡逻空域。仿真结果表明，编队按照规划的矩形巡逻空域和椭圆航线进行战斗巡逻，可保持对总任务区域82.16%的协同探测，与最优雷达探测航线的平均实时探测范围相比仅下降1.93%，且探测盲区时间空窗小。规划结果能显著降低飞行员的认知载荷，具有较好的实用价值和现实意义。
- 战斗巡逻 /
- 协同概率探测 /
- 椭圆拟合 /
- 巡逻空域 /
- 椭圆航线
Abstract:
In view of the combat air patrol (CAP) planning problem in air formation under the background of weak intelligence support in the far sea, a new patrol airspace planning method based on the elliptic fitting of the optimal detection route was proposed. First, the cooperative probability detection area was used as the fitness function of the genetic algorithm to solve the optimal cooperative detection route of the aircraft. Then, according to the statistical characteristics of the initial route points, a two-point removal elliptic fitting method based on geometric distance was used to solve the actual available elliptical route and the corresponding patrol airspace for pilots. The simulation results show that the formation can maintain 82.16% cooperative detection of the total mission area in CAP according to the planned rectangular patrol airspace and elliptical route, and the average real-time detection range only decreases by 1.93% compared with the optimal radar detection route. The time window in the detection blind area is small. The planning results greatly reduce the cognitive load of pilots and have practical value.
- combat air patrol /
- collaborative probability detection /
- elliptic fitting /
- patrol airspace /
- elliptical route

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图 1 飞机受力分析

Figure 1. Aircraft stress analysis

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图 2 飞机$ \Delta t $时间的可达集

Figure 2. Flight’s reachable range within $ \Delta t $

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图 3 任务区栅格化示意图

Figure 3. Rasterized diagram of mission area

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图 4 巡逻空域及椭圆航线示意图

Figure 4. Patrol airspace and elliptical route

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图 5 仿真步长对末端收敛特性的影响

Figure 5. Effect of simulation step size on terminal convergence characteristics

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图 6 交叉及变异过程

Figure 6. Crossover and mutation process

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图 7 基于最优探测航线椭圆拟合的战斗巡逻规划方法流程

Figure 7. CAP planning method flow based on elliptic fitting of optimal detection route

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图 8 任务区示意图

Figure 8. Mission area

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图 9 雷达探测能力曲线

Figure 9. Radar detection capability curve

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图 10 航线规划仿真结果

Figure 10. Route planning simulation results

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图 11 3种椭圆拟合方法效果对比

Figure 11. Effect comparison of three elliptic fitting methods

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图 12 4种编队航线的椭圆拟合结果

Figure 12. Elliptic fitting results of four formation routes

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图 13 战斗巡逻空域及椭圆航线规划结果

Figure 13. CAP airspace and elliptical route planning results

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图 14 不同时刻编队协同探测范围变化示意图

Figure 14. Cooperative detection range variation of formation at different time

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图 15 编队协同探测能力示意图

Figure 15. Formation cooperative detection capability

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图 16 五机编队椭圆航线与最优雷达探测航线概率探测面积对比

Figure 16. Comparison of probability detection areas between elliptical route and optimal radar detection route of five aircraft formation

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表 1 雷达参数

Table 1. Radar parameters

机型	发射功率/W	发射增益/dB	接收机带宽/Hz	接收增益/dB	信号波长/m	脉压比	脉冲累积数	环境温度/K	噪声系数/dB	损耗/dB
预警机	2.0×10²	40	5.0×10⁶	40	0.3	1	30	293	2	6
歼击机	1.0×10²	35	5.0×10⁶	35	0.03	1	30	293	3	8

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表 2 飞机性能参数

Table 2. Aircraft performance parameters

速度/（km·s⁻¹）	最大滚转角/rad	最小转弯半径/m	10 s最大偏航角/rad
0.2	π/6	7070	0.1415

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表 3 遗传算法参数

Table 3. Genetic algorithm parameters

N	L	p_c	p_m	g	n_r
30	[2,4,5,6]	0.9	0.01	30	2

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表 4 飞机初始位置和角度信息

Table 4. Initial aircraft position and angle information

数量	初始位置/km	初始角度/rad
2	[0,0;141.4,553]	[0;0]
4	[0,0;0,0;141.4,553;141.4,553]	[0;0;0;0]
5	[0,0;141.4,553;141.4,553;244.3,347.2;244.3,347.2]	[0;0;0;0;0]
6	[0,0;0,0;141.4,553;141.4,553;244.3,347.2;244.3,347.2]	[0;0;0;0;0;0]

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表 5 巡逻空域及椭圆航线详细信息

Table 5. Patrol airspace and elliptical route details

编号	空域顶点坐标/km	航线中心点/km	长轴长/km	短轴长/km	偏转角/rad
1	(344.0,424.5)	(318.1,432.9)	14.6	13.9	0.46
	(308.8,407.2)
	(292.1,441.3)
	(327.4,458.5)
2	(390.5,323.2)	(348.9,315.1)	30.2	18.7	0.79
	(340.8,273.4)
	(307.3,306.9)
	(357.0,356.7)
3	(460.6,293.5)	(437.4,260.2)	28.3	18.2	1.57
	(460.6,226.9)
	(414.2,226.9)
	(414.2,293.5)
4	(369.8,238.0)	(370.3,201.6)	23.1	18.1	2.27
	(406.1,195.2)
	(370.8,165.2)
	(334.5,208.0)
5	(334.7,118.0)	(308.2,107.1)	16.2	14.6	1.12
	(316.4,79.7)
	(281.7,96.3)
	(300.1,134.6)

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