【Paper】2020_ Research on defense and evaluation strategy of heterogeneous UAV formation_ Zuojiankai

Zuojiankai , Wujiehong , Chenjiatong , Liuzeyuan , Lizhongzhi . Research on defense and evaluation strategy of heterogeneous UAV formation [J]. Computer science , 2021, 48(2): 55-63.

ZUO Jian-kai, WU Jie-hong, CHEN Jia-tong, LIU Ze-yuan, LI Zhong-zhi. Study on Heterogeneous UAV Formation Defense and Evaluation Strategy[J]. Computer Science, 2021, 48(2): 55-63.

1 introduction

This paper is based on the previous research , This paper studies the defense deployment of unmanned aerial vehicles , Mainly for the scale of 16 Formation of UAVs . meanwhile , This research has good applicability for practical technology application .

Suppose that we have a certain number of unarmed UAVs under scientific research , To prevent other UAV formations from interfering , We need to send a certain number of defensive UAVs for deployment .

2 Coding scheme and decoding scheme

2.1 Basic encoding unit and decoding scheme

2.2 Decoding scheme

1） Calculate the local coordinates of each basic formation .

2） Calculate the coordinates of the center point of the sub formation .

After obtaining the local coordinates, length and width of each basic formation , The center point of each sub formation The coordinates are calculated according to the following formula ：
$$X_i^{\prime }=X_i\pm (L+0.5L_i)\text{\hspace{1em}(1)}$$

$$Y_i^{\prime }=Y_i\pm (W+0.5W_i)\text{\hspace{1em}(2)}$$

$X_i^{\prime }$： It means the first one $i$ Abscissa of the center point of the sub formation
$Y_i^{\prime }$： It means the first one $i$ The ordinate of the center point of the sub formation
$X_i$： It means the first one $i$ The local abscissa of the parent formation corresponding to the child formation
$Y_i$： It means the first one $i$ The local ordinate of the parent formation corresponding to the child formation
$L_i$： It means the first one $i$ The length of the sub formation
$W_i$： It means the first one $i$ The width of the sub formation
$L$： It means the first one $i$ The child formation corresponds to the single machine and the parent formation $x$ The length of the sub formation corresponding to other single machines between the axes
$W$： It means the first one $i$ The child formation corresponds to the single machine and the parent formation $y$ The width of the sub formation corresponding to other single machines between the axes

Pass formula （1） and （2） The position coordinates of the center point of each sub formation in the actual formation can be determined .

3） Calculate the coordinates of each UAV .
$$x_{ij}=X_i^{\prime }\pm L_i\text{\hspace{1em}(3)}$$

$$y_{ij}=Y_i^{\prime }\pm W_i\text{\hspace{1em}(4)}$$

$x_{ij}$： It means the first one $i$ The second of the sub formation $j$ The abscissa of an aircraft
$y_{ij}$： It means the first one $i$ The second of the sub formation $j$ The ordinate of an airplane

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3 Fitness function

3.1 Construction of UAV formation fitness function

Missile flight distance index ：
$${\alpha }_1=\frac{R}{S_1}\text{\hspace{1em}(5)}$$

$R$： Indicates the distance from the defensive aircraft to the interception point
$S_1$： Respectively indicate the distance between the enemy aircraft and the interception point
$S_2$： Respectively represent the distance from the unarmed UAV to the interception point

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Define the explosion damage index ：
$${\alpha }_2=e^{-S_2}\text{\hspace{1em}(7)}$$

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In an enemy plane 、 The fitness function is established in the case of an unarmed UAV and a defensive aircraft ：
$$\alpha =\frac{1}{k_1{\alpha }_1+k_2{\alpha }_2}\text{\hspace{1em}(8)}$$

$k_1,k_2$： Index weight coefficient

${\alpha }_1$ and ${\alpha }_2$ The smaller theta is , The more beneficial it is to our formation's defense against unarmed UAVs .

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The fitness value of the whole UAV formation is the sum of the fitness values of all unarmed UAVs ：
$${\alpha }_i=\sum _{j=1}^{q(i)}{\alpha }_{ij}\text{\hspace{1em}(9)}$$

$$\lambda =\sum _{i=1}^n{\alpha }_i\text{\hspace{1em}(10)}$$

$i$： It means the first one $i$ An unarmed UAV
$j$： It means the first one $i$ The corresponding number of unarmed UAVs $j$ Enemy aircraft
$q(i)$： It means that you can attack the $i$ Total number of enemy aircraft of unarmed UAVs
$a_{ij}$： It means the first one $j$ An enemy plane attacked the $i$ The total fitness of an unarmed UAV
$n$： Indicates the number of unarmed UAVs
$\lambda$： Indicates the fitness value of the whole formation

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3.2 Optimization of fitness function

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4 Simulation experiments verify

Case one

Assume opposite 16 All the enemy planes can attack our UAV , And we have 6 $(n=6)$ An unarmed machine , So you get 6 Fitness values
$${\alpha }_1=\sum _{j=1}^{16}{\alpha }_{1j}$$$${\alpha }_2=\sum _{j=1}^{16}{\alpha }_{2j}$$$${\alpha }_3=\sum _{j=1}^{16}{\alpha }_{3j}$$$${\alpha }_4=\sum _{j=1}^{16}{\alpha }_{4j}$$$${\alpha }_5=\sum _{j=1}^{16}{\alpha }_{5j}$$$${\alpha }_6=\sum _{j=1}^{16}{\alpha }_{6j}$$

The total fitness value is
$$\lambda ={\alpha }_1+{\alpha }_2+{\alpha }_3+{\alpha }_4+{\alpha }_5+{\alpha }_6$$

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5 Effect evaluation

$k_1=k_2=1$