JP5306051B2 - Thermal power distribution device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fire distribution device capable of performing fire distribution processing by each moving body independently from the other moving body while achieving cooperation in a corps grouped by a plurality of moving bodies even if communication between the moving bodies is not normally kept, and optimizing power distribution in the whole corps. <P>SOLUTION: A fire distribution execution section performs processing suited to a group to which each belongs with respect to a target. The fire distribution execution section sets all of the targets belonging to a group G1 as targets for shooting by the firearms of one's own ship. The fire distribution execution section performs the fire distribution processing with respect to the targets belonging to groups G2, G4, and based on the result of the processing, assigns which ship tackles. The fire power execution section excludes all of the targets belonging to a group G3 from all of the targets for shooting by the firearms of one's own ship. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  In the present invention, when a plurality of targets (for example, an aircraft, a flying object, etc.) approaching the unit and threatening the unit are detected, the shooting target of the firearm of the moving body is selected from the plurality of targets. It is related with the thermal-power distribution apparatus which sets.

  In the conventional thermal power distribution method in unit air defense, when a plurality of targets approaching a fleet as a unit are detected by a detection device, a ship as a moving body belonging to the fleet synchronizes with other ships in the fleet. Instead, it was decided at its own timing whether or not the target was set as a fire target for firearms.

  In such a thermal power distribution method, only the detection information (sensor information) of the own ship's detection device is used, and only a target with a relatively high threat to the ship is set as a shooting target. For this reason, the degree of cooperation within the fleet was decreasing. In addition, each ship in the fleet may set the same target as a shooting target, that is, an overshoot (allocation of the same target more than necessary) may occur. In such a case, useless bullets are generated due to overshoot, and the consumption rate of the thermal resources increases. In addition, there was a case in which all vessels did not assign targets as shooting targets. Furthermore, there is a problem that the number of remaining bullets of each ship in the fleet may become uneven.

  On the other hand, in recent years, construction of a unit air defense system corresponding to NCW (Network Centric Warfare) has progressed, and information is shared in the fleet. Therefore, there is an increasing demand for optimization of thermal power distribution within the fleet, such as equalizing the number of remaining bullets of each unit's firearms, that is, the demand for optimal thermal power distribution. Yes.

  Such optimal thermal power distribution can be considered as a kind of resource allocation problem. In general, in order to solve this resource allocation problem, a combination optimization method is used in which one master grasps the situation of the entire unit and performs optimization to determine the allocation (allocation) of the target. For example, in the conventional thermal power distribution devices as shown in Patent Documents 1 and 2, the thermal power distribution of a plurality of firearms in the same ship is executed by the combination optimization method.

JP 2005-147552 A JP 2006-29651 A

  Here, the thermal power distribution processing in the unit air defense needs to be carried out independently by each ship for operational reasons, so a method is adopted in which the master looks at the whole and determines the thermal power distribution for all ships. It was difficult to do. Furthermore, in order to optimize the entire unit, it is necessary to obtain information on the latest status of all ships.

  However, depending on the situation, the ship's communication function and fire control function may be damaged, and there is no guarantee that real-time communication between ships is always secured, and sometimes ships share the latest information with each other. A situation that can't happen. Therefore, it has been difficult to optimize the thermal power distribution for the target by the combination optimization technique used in the optimal thermal power distribution process other than the unit air defense and other resource allocation processes.

  Furthermore, it is possible to apply an algorithm in which each ship becomes the master and each ship distributes the thermal power of all ships. However, even if each ship independently executes the thermal power distribution process, the thermal power distribution of the own ship is determined by the own ship (does not reflect the thermal power distribution result for the own ship by other ships). For this reason, even if the ship manages the setting of the fire target of the firearms of other ships and the launch schedule, the processing load increases and the processing time increases. Therefore, it has been difficult to apply such an algorithm to a unit air defense that requires quick response.

  The present invention has been made to solve the above-described problems, and even in the case where communication between mobile bodies is not normally maintained, cooperation is made within a unit formed by a plurality of mobile bodies. It is an object of the present invention to provide a thermal power distribution apparatus capable of optimizing the thermal power distribution in the entire unit so that each mobile body can execute the thermal power distribution process independently of the other mobile bodies.

The thermal power distribution apparatus according to the present invention is provided in each of a plurality of moving bodies equipped with firearms that shoot a target, and based on the detection information of the target shared by the plurality of moving bodies, A part of the multiple targets included is assigned to the moving object as a shooting target of the fired object of the moving object, and information on the number of remaining firearms and the maximum value that can be fired simultaneously. Information storage unit for transmitting and receiving the firearm information including the information of the mobile unit, and the information storage unit for storing the firearm information of other mobile units received by the information transmission / reception unit and the firearm information of its own mobile unit Based on detection information, a threat level calculation unit that calculates a threat level, which is an index related to predicted damage to a moving object, by a target object for each mobile body and each target object, and a plurality of targets included in the detection information Moves out of things A target whose threat level against the mobile object is equal to or less than the threshold value is assigned to a self-handling group that is a set of targets that the mobile body handles a target whose threat level exceeds a preset threshold. The target classifying unit that classifies each of the moving objects and other moving objects into a shared handling group that is a set of targets that are shared and dealt with each other, and the target that belongs to the own handling group, As a shooting target, it is provided with a thermal power distribution execution unit to be allocated to its own mobile body, and the thermal power distribution execution unit is based on the firearm information stored in the information storage unit, the firearm of the mobile body after dealing with the target equalize remaining number of bullets, so that a plurality of moving body to minimize the number of overshoot performing firing on the same target, each of all of the target belonging to sharing address group of mobile Split Te and the target allocated to the mobile body itself is set as the shooting target for firearms moving body itself.

  According to the thermal power distribution apparatus of the present invention, based on the firearm information stored in the information storage unit, the thermal power distribution execution unit minimizes the remaining number of bullets of the moving body after dealing with the target, All the targets belonging to the sharing group are assigned to each of the multiple mobiles and assigned to their own mobiles so as to minimize the number of overshoots that the mobiles shoot against the same target. The target is set as the fire target of the firearm of its own mobile body, so communication between mobile bodies is not properly maintained by setting the fire target of the firearm of its own mobile body at its own timing Even in this case, each mobile unit can execute the thermal power distribution process independently from the other mobile units while coordinating within the unit composed of multiple mobile units, and optimal thermal power distribution for the entire unit Can be That.

It is a block diagram which shows the thermal power distribution apparatus by Embodiment 1 of this invention. It is explanatory drawing for demonstrating the classification | category process by the thermal power distribution process object classification | category part of FIG. It is explanatory drawing for demonstrating an example of the thermal power distribution process by the thermal power distribution execution part of FIG. It is explanatory drawing for demonstrating an example of the thermal power distribution process by the thermal power distribution execution part of FIG. It is explanatory drawing for demonstrating an example of the thermal power distribution process by the thermal power distribution execution part of FIG. It is explanatory drawing for demonstrating an example of the thermal power distribution process by the thermal power distribution execution part of FIG. It is explanatory drawing for demonstrating an example of the thermal power distribution process by the thermal power distribution execution part of FIG. It is a block diagram which shows the thermal power distribution apparatus by Embodiment 2 of this invention. It is a block diagram which shows the thermal power distribution apparatus by Embodiment 3 of this invention. It is a block diagram which shows the thermal power distribution apparatus by Embodiment 4 of this invention. It is a flowchart which shows the necessity determination process of the reheating power distribution by the reheating power distribution process target extraction part of FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following embodiments, the units of the present invention will be described as a fleet, a ship as a moving body, its own moving body as its own ship, and other moving bodies as other ships.
Embodiment 1 FIG.
1 is a block diagram showing a thermal power distribution apparatus according to Embodiment 1 of the present invention. In FIG. 1, the thermal power distribution apparatus main body 100 recognizes the ship on which it is installed as its own ship. Moreover, the thermal power distribution apparatus main body 100 recognizes ships other than the own ship in the fleet as other ships. Furthermore, the thermal power distribution apparatus main body 100 performs control such as setting of a shooting target of a firearm of its own ship (for example, a launching apparatus of a flying object: not shown) and a firing time.

  The thermal power distribution apparatus main body 100 includes a sensor unit 1, a unit sensor information collection unit 2, a sensor information integrated storage unit 3, a unit information reception unit 4, a unit thermal power distribution result storage unit 5, a unit firearm information storage unit 6, and a thermal power distribution processing target Extraction unit 7, threat level / meeting probability calculation unit 8 as a threat level calculation unit, thermal power distribution processing target classification unit 9, thermal power distribution execution unit 10, thermal power distribution result storage unit 11, firearm information storage unit 12, firearm information update unit 13 and an information transmission unit 14. The unit information receiving unit 4 and the information transmitting unit 14 constitute an information transmitting / receiving unit.

  The sensor unit 1 is a sensor device such as a radar. In addition, the sensor unit 1 detects a target located in a predetermined detection area, and tracks the detected target. The target object is an object that approaches the fleet to which the fleet belongs and becomes a threat to the fleet, such as an aircraft or a flying object. Further, when detecting the target, the sensor unit 1 observes the position, moving speed, moving direction and size of the target. Further, the sensor unit 1 generates sensor observation data (detection information) that is information indicating whether or not the target has been detected and the observation contents of the target. Moreover, the sensor part 1 transmits the produced | generated sensor observation data to another ship.

  The unit sensor information collection unit 2 receives and collects sensor observation data from a sensor unit (not shown) provided in another ship. The sensor information integration storage unit 3 integrates and stores the sensor observation data of the own ship generated by the sensor unit 1 and the sensor observation data of other ships collected by the unit sensor information collection unit 2.

  The unit information receiving unit 4 receives firearm information and thermal power distribution result information from other ships in the fleet. This firearm information is information including information on the number of remaining bullets of a firearm, information on availability of use of firearms, and information on the number of fireable weapons that can be fired simultaneously. Further, the thermal power distribution result information is information indicating a target that is a fire target of a firearm.

  The unit thermal power distribution result storage unit 5 integrates and stores the thermal power distribution result information of other ships received by the unit information reception unit 4 and the thermal power distribution result information of the own ship stored in the thermal power distribution result storage unit 11. To do. The unit firearm information storage unit 6 integrates and stores the firearm information of other ships received by the unit information receiver 4 and the firearm information of the own ship stored in the firearm information storage unit 12.

  The thermal power distribution processing target extraction unit 7 includes sensor observation data of each ship in the fleet stored in the sensor information integrated storage unit 3 and thermal power of each ship in the fleet stored in the unit thermal power distribution result storage unit 5. Compare with the distribution result and extract a new target for thermal power distribution processing. Specifically, the target for the thermal power distribution process is a target that is not set as a fire target of any ship among all targets included in the sensor observation data of each ship in the fleet. is there.

  The threat level / meeting probability calculation unit 8 calculates the threat level and the meeting probability of the target extracted by the thermal power distribution processing target extraction unit 7 for each ship in the fleet based on the sensor observation data. The threat level calculated by the threat level / meeting probability calculation unit 8 is an index indicating the probability that the target will damage the ship, the magnitude of the predicted damage to the ship by the target, and the like. Moreover, this threat level differs for every ship even if it is the same target.

  Therefore, the threat level / meeting probability calculation unit 8 needs to calculate the threat level for each ship for one target. Specifically, the number of threats calculated by the threat / meeting probability calculation unit 8 is, for example, m × n when the number of targets is m and the number of ships is n. The meeting probability calculated by the threat / meeting probability calculation unit 8 is a probability that the target is successfully dealt with by one shot of the firearm of the ship. The meeting probability varies depending on the type and performance of each ship's firearms.

  Here, the target extracted by the thermal power distribution processing target extraction unit 7 is a target to be dealt with by the entire fleet, and the thermal power distribution processing target classifying unit 9 deals with the own ship (that is, the thermal power distribution execution unit 10). Narrow down targets to be processed. Specifically, the thermal power distribution process target classification unit 9 classifies the plurality of targets extracted by the thermal power distribution process target extraction unit 7 based on the threat level calculated by the threat level / meeting probability calculation unit 8, The targets to be processed by the thermal power distribution execution unit 10 are narrowed down.

  The thermal power distribution execution unit 10 performs thermal power distribution processing based on various information from the sensor information integrated storage unit 3, the unit firearm information storage unit 6, the threat level / meeting probability calculation unit 8, and the thermal power distribution processing target classification unit 9. Run and set your firearm's fire target. The thermal power distribution result storage unit 11 stores the execution result of the thermal power distribution process performed by the thermal power distribution execution unit 10.

  The firearm information storage unit 12 stores firearm information of the own ship. The firearm information update unit 13 can communicate with firearms, and acquires the latest firearm information of the own ship. In addition, the firearm information update unit 13 updates the firearm information stored in the firearm information storage unit 12 to the latest firearm information. The information transmission unit 14 transmits the own ship's thermal power distribution result information stored in the thermal power distribution result storage unit 11 and the own firearm information stored in the firearm information storage unit 12 to other ships in the fleet. .

  Here, the thermal power distribution apparatus main body 100 can be configured by a computer (not shown) having an arithmetic processing unit (CPU), a storage unit (ROM, RAM, hard disk, etc.) and a signal input / output unit. The storage unit of the computer of the thermal power distribution apparatus main body 100 stores programs for realizing the functions of the sensor unit 1 to the information transmission unit 14 shown in FIG.

  Next, a method for transmitting and receiving information between ships will be described. Within the fleet, sensor observation data is constantly transmitted and received between ships. As a result, each ship in the fleet integrates the sensor observation data of its own ship with the sensor observation data of the other ship, thereby obtaining information on the detection status of the target in the fleet, that is, the sensor observation data (100% state). Share).

  On the other hand, regarding the transmission and reception of firearm information and thermal power distribution result information, the ship's communication function and firearm control function may be disturbed (the reception probability may change depending on the communication environment), and communication between ships There is no guarantee that the real-time property of the ship is always secured, and in some cases, the ships cannot share the latest information with each other. In addition, since the contents of the firearm information and the thermal power distribution result information are determined by executing necessary processes in the ship, they are not transmitted and received in real time, but are periodically transmitted and received between ships. The Due to these factors, when setting a fire target for the firearms of the ship, a situation occurs in which the firearm information and firepower distribution result information of other ships held by each ship are not up-to-date.

Next, the function of the thermal power distribution process target classification unit 9 will be specifically described. FIG. 2 is an explanatory diagram for explaining the classification process by the thermal power distribution process target classification unit 9 of FIG. In FIG. 2, the thermal power distribution processing target classification unit 9 selects the target extracted by the thermal power distribution processing target extraction unit 7 based on the threat level calculated by the threat level / meeting probability calculation unit 8 as follows. Classify into groups G1-G4.
Group G1: A set of targets whose threat level only exceeds the threshold H for the own ship Group G2: A set of targets whose threat level for multiple ships including the own ship exceeds the threshold H Group G3: A threat level for other ships other than the own ship Set of targets whose threshold exceeds H Group G4: Set of targets whose threat level to any other ship is also equal to or lower than threshold value H It is a corresponding value, a value set in advance.

  Next, the thermal power distribution process by the thermal power distribution execution unit 10 will be specifically described. First, in the outline of the thermal power distribution process, a target whose threat level to the ship exceeds a predetermined threshold value H is set as a fire target of the firearm of the ship. In addition, for any ship whose threat level is less than or equal to the threshold value H, its own firearms are used to equalize the number of remaining bullets and the thermal load of each ship and to minimize the number of overshoots. It is determined whether or not to set as a shooting target. The thermal load is a value obtained by dividing the assigned number by the firearm capability, and is a value indicating the degree of firearm load.

  The thermal power distribution execution unit 10 performs processing according to the group to which each target belongs. Further, the thermal power distribution execution unit 10 determines whether or not the targets belonging to the respective groups are set as the shooting targets of the firearms of the own ship in the order of the groups G1, G2, G3, and G4. Specifically, the thermal power distribution execution unit 10 sets all the targets belonging to the group G1 as shooting targets of the own firearms.

  Further, the thermal power distribution execution unit 10 executes a thermal power distribution process for the targets belonging to the group G2, and assigns which ship to deal with based on the result of the process. Further, the thermal power distribution execution unit 10 excludes all targets belonging to the group G3 from the fire targets of the own firearms. Further, the thermal power distribution execution unit 10 executes a thermal power distribution process different from that for the group G2 for the target belonging to the group G4, and assigns which ship to deal with based on the result of the process. Therefore, the group G1 is a set of targets handled by the firearms of its own ship, that is, a self-handling group. Groups G2 and G4 are a collection of targets that are handled by the firearms of each ship in the fleet, that is, a shared handling group.

  Next, the thermal power distribution process for the group G2 by the thermal power distribution execution unit 10 will be specifically described. A target that has a high possibility of causing damage to a plurality of ships including its own ship will cause an overshoot if each target ship uses the target as a shooting target. Therefore, the thermal power distribution execution unit 10 prioritizes each target belonging to the group G2 in order to prevent the occurrence of overshoot.

  There are four items for prioritization: threat level, number of remaining bullets, thermal load, and response time. The coping time is the time from the current time to the latest shooting time at which the target can be dealt with before being damaged. Here, a target belonging to the group G2 is set as M, and a set of ships whose threat level of the target M exceeds a threshold value H is set as S. The thermal power distribution execution unit 10 calculates the following equation (1) based on the respective rank points of the threat level, the number of remaining bullets of each ship's firearms, the thermal power load of each ship, and the response time for the target M of the ship j. By calculating the above, the priority of each ship in the fleet is calculated. Then, the ship with the highest priority is determined to deal with. For example, if there are 10 ships belonging to the set S, the ranking point takes any value from 10 to 1, and the higher the value, the higher the ranking.

但し、Ｐ（Ｍ，ｊ）：目標物Ｍに対する艦船ｊの優先度
Ｒ_T（Ｍ，ｊ）：集合Ｓに属する艦船ｊに対する目標物Ｍの脅威度の順位点
Ｒ_R（ｊ）：艦船ｊの残弾数の順位点
Ｒ_F（ｊ）：艦船ｊの火力負荷の順位点
Ｒ_L（Ｍ，ｊ）：艦船ｊの目標物Ｍに対する対処可能時間の順位点
Ｒ_D（Ｍ，ｊ）：艦船ｊの目標物Ｍに対する会合確率の順位点
Ｃ_T、Ｃ_R、Ｃ_F、Ｃ_L、Ｃ_Dは、それぞれの項目の重み付けのための係数であり、値が大きいほどその項目を優先することを示している。

However, P (M, j): priority of ship j with respect to target M R _T (M, j): rank point of threat level of target M with respect to ship j belonging to set S R _R (j): ship j Rank point of the remaining number of bullets R _F (j): Rank point of the thermal load of the ship j R _L (M, j): Rank point of the response time for the target M of the ship j R _D (M, j): The ranking points C _T , C _R , C _F , C _L , and C _D for the probability of meeting of the ship j with respect to the target M are coefficients for weighting each item. Is shown.

  Next, the thermal power distribution process for the group G4 of the thermal power distribution execution unit 10 will be specifically described. A target belonging to the group G4 may be assigned to any ship basically because the threat level to any ship is below the threshold value H. Therefore, the thermal power distribution execution unit 10 sets a target as a fire target of the firearm of the ship by executing a two-stage process of a thermal power distribution process and a shooting target selection process. This thermal power distribution process is a process in which targets belonging to the group G4 are virtually allocated to each ship in the fleet. Further, the shooting target selection process is a process of selecting a target to be a shooting target of the own firearm from a plurality of targets belonging to the group G4.

  3-7 is explanatory drawing for demonstrating an example of the thermal power distribution process by the thermal power distribution execution part 10 of FIG. Here, an example of a thermal power distribution process when the number of ships forming a fleet is 6 (ships A to F) and the number of targets belonging to the group G4 is 100 will be described. In addition, FIG. 3 shows the firearm capability and the number of remaining bullets of each ship before the allocation of the target. FIG. 4 shows the result of the equalization assignment process based on the number of remaining bullets of each ship. FIG. 5 shows the processing results after the thermal load adjustment processing is performed once from the processing results (assignment results) shown in FIG. FIG. 6 shows the processing results after the thermal load adjustment processing is performed once from the processing results shown in FIG. FIG. 7 shows the final processing result after the thermal power load adjustment processing.

  First, the thermal power distribution execution unit 10 grasps the firearm capability of each ship and the number of remaining bullets before allocation based on the firearm information of other ships and the own ship stored in the unit firearm information storage unit. Here, as shown in FIG. 3, the firearm capacity of each ship and the number of remaining bullets before allocation are ship A = {3, 50}, ship B = {3, 30}, ship C = {4, 50, respectively. }, Ship D = {2, 40}, ship E = {6, 30}, ship F = {4, 40}. In the two numbers in the parentheses, the first value indicates the firearm ability, and the second value indicates the remaining number of bullets.

  First, the thermal power distribution execution unit 10 executes equalization allocation processing in which the number of remaining bullets of each ship after allocation (after dealing with the target) is equalized, and allocation of each ship for targets belonging to the group G4 Determine the number. Specifically, the thermal power distribution execution unit 10 sets each remaining number of bullets after equalizing all targets belonging to the group G4 (after allocation and after shooting the target) so that the remaining number of bullets is equalized. Determine the number of ships allocated. As shown in FIG. 4, the processing results are as follows: Ship A = {26, 24, 8.67}, Ship B = {7, 23, 2.33}, Ship C = {27, 23, 6.75} Ship D = {16, 24, 8.00}, Ship E = {7, 23, 1.17}, Ship F = {17, 23, 4.25}. These three numbers in parentheses indicate the number of allocations, the number of remaining bullets after allocation, and the thermal power load in order. Accordingly, the number of remaining bullets after the allocation of each ship is equalized to 23 or 24.

  Next, when the maximum value of the thermal load of each ship exceeds the thermal load threshold value that is a preset fixed value, the thermal power distribution execution unit 10 executes an allocation number adjustment process by thermal power adjustment. And the thermal power distribution execution part 10 adjusts the allocation number of the target object of each ship so that the maximum value of a thermal power load may become below a thermal power load threshold value by performing an adjustment process. Here, as the difference in thermal load is reduced, the number of remaining bullets is not equalized, so that the difference in the number of remaining bullets is less than or equal to a preset remaining value threshold value. To. Note that whether to prioritize equalization of the remaining number of bullets or equalize thermal power load is determined by the actual operation method.

Moreover, the thermal power distribution execution part 10 adjusts the allocation number of the target in each ship by performing the following 1st-4th adjustment step as an adjustment process in order.
First adjustment processing step: The thermal power distribution execution unit 10 extracts a ship having the maximum thermal load value from all ships as k.
Second adjustment processing step: The thermal power distribution execution unit 10 decreases the number of ships k allocated so that the thermal power load of the ship k is a maximum integer smaller than the current thermal power load.
Third adjustment processing step: The thermal power distribution execution unit 10 makes the remaining number of bullets of each ship in the fleet as uniform as possible, and makes the total number of assigned numbers of all ships equal to the target number of the group G4. Increase the number of ships other than ship k. However, the number of ships that have once lowered the thermal load will not be increased, except for ship k, so that once the thermal load has been lowered, the thermal load will not rise again.
Fourth adjustment processing step: The thermal power distribution execution unit 10 performs the thermal power distribution process when the maximum thermal power load is equal to or less than the thermal power load threshold value or when the difference between the maximum value and the minimum value of the remaining ammunition number exceeds the remaining ammunition number threshold value. finish.

  Here, the ship with the highest thermal load in the processing result shown in FIG. 4 is the ship A, which has a load of 8.67, which exceeds the thermal load threshold of 7. Therefore, the thermal power distribution execution unit 10 changes the thermal power load of the ship A to 8 which is the maximum integer smaller than 8.67. At the same time, the thermal power distribution execution unit 10 equalizes the number of remaining bullets after allocation of ships other than the ship A, and the total number of allocations becomes 100, which is the total value of the targets of the group G4. Change the number of ships other than Ship A. Among the processing results after the first thermal power load adjustment, the adjusted thermal power load, the assigned number, and the remaining number of bullets after the assignment of the ship A, the ship D, and the ship E are as shown in FIG. Ship A = {8.00, 24, 26}, Ship D = {8.50, 17, 23}, Ship E = {1.33, 8, 22}.

  Next, the ship with the highest thermal load in the processing result shown in FIG. 5 is the ship D, which has a thermal load of 8.50, which exceeds the thermal load threshold of 7. Therefore, the thermal power distribution execution unit 10 executes the same process as the first thermal power load adjustment process, that is, the second thermal power load adjustment process, and brings the thermal power load of the ship D closer to the thermal power load threshold. Here, after changing the thermal load of the ship D to 8, if all ships other than the ship D are simply targeted for adjustment of the assigned number, the assigned number of the ship A will increase and decrease by the first thermal load adjustment process. The thermal power load of the ship A is increased again. For this reason, a ship that has reduced its thermal power load even once should not increase its quota. That is, after changing the thermal power load of the ship D to 8, the ship A is excluded from the targets to increase the assigned number.

  And the thermal power distribution execution part 10 acquires a process result as shown in FIG. 6 by performing such a thermal power load adjustment process of the 2nd time. In addition to this, the thermal power distribution execution unit 10 repeats the same process as the second thermal power load adjustment process, and changes the allocation number of each ship so that the thermal power load of each ship becomes equal to or less than the thermal power load threshold. Thus, the thermal power distribution execution unit 10 obtains a final adjustment result as shown in FIG. In this final adjustment result, the thermal load of each ship does not exceed the thermal load threshold of 7, and the difference between the maximum and minimum remaining number of bullets after allocation does not exceed the residual bullet threshold of 10. Results are obtained.

  Next, the thermal power distribution execution unit 10 determines the number of ships allocated based on the number of ships allocated by the thermal power distribution process. For example, in FIG. 7, when the own ship is the ship A, the thermal power distribution execution unit 10 determines the assigned number of own ships as 21. When determining the number of ships to be allocated, the thermal power distribution execution unit 10 executes a shooting target selection process, and sets a target to be a fire target for a firearm from a plurality of targets belonging to the group G4. In this shooting target setting process, a plurality of targets belonging to the group G4 are ranked, and the top W are set as firearm shooting targets. Note that W is the number of ships allocated by the thermal power distribution process.

  Here, the shooting target selection process will be specifically described. For example, when the target belonging to the group G4 is N and the ship is the ship j, the thermal power distribution execution unit 10 ranks the target belonging to the group G4 by calculating the following equation (2). To do. Then, the thermal power distribution execution unit 10 sets W targets as firing targets of the firearms of the ship in descending order of priority of the target N in the ship j.

但し、Ｑ（Ｎ，ｊ）：目標物Ｎの艦船ｊにおける優先度
Ｒ_T（Ｎ，ｊ）：目標物Ｎの艦船ｊに対する脅威度の順位点
Ｒ_D（Ｎ，ｊ）：艦船ｊの目標物Ｎに対する会合確率の順位点
Ｒ_L（Ｎ，ｊ）：艦船ｊの目標物Ｎに対する対処可能時間の順位点
Ｃ_T、Ｃ_D、Ｃ_Lは、それぞれの項目の重み係数であり、値が大きいほどその項目を優先することを示す。

However, Q (N, j): the priority of the target N in the ship j R _T (N, j): the rank point of the threat level of the target N against the ship j R _D (N, j): the target of the ship j Rank point R _L (N, j) of meeting probability for the object N: Rank points C _T , C _D , and C _L of the possible handling time for the target N of the ship j are the weighting factors of the respective items. The larger the value, the higher priority is given to the item.

  Accordingly, the thermal power distribution execution unit 10 sets the fire target of the firearm of its own ship from the plurality of targets belonging to the group G4 by sequentially executing the thermal power distribution process and the fire target selection process. In addition, each of the thermal power distribution device main bodies 100 provided in each ship executes the same processing, so that all targets are set as firing targets for the firearms of each ship, and the occurrence of target shoot-out is prevented. It becomes possible to suppress. In addition, after the thermal power distribution execution unit 10 sets the fire target of the own firearm, the information transmission unit 14 transmits the thermal power distribution result and firearm information of the own ship to other ships in the unit.

  In the thermal power distribution apparatus as described above, the thermal power distribution execution unit 10 minimizes the remaining number of bullets of the moving body after dealing with the target based on the firearm information stored in the unit firearm information storage unit 6. All targets belonging to the group G2 are assigned to each ship so as to minimize the number of overshoots in which a plurality of moving bodies shoot at the same target. Then, the thermal power distribution execution unit 10 sets the target assigned to the ship as a shooting target of the firearm of the ship. As a result, the thermal power distribution execution unit 10 sets the fire target of its own firearms at its own timing, so that even if the communication between the ships is not normally maintained, cooperation is achieved within the fleet. Each ship can execute the thermal power distribution process independently of other ships, and the thermal power distribution in the entire unit can be optimized. In addition, the fleet cooperation can be improved.

Embodiment 2. FIG.
In the first embodiment, when the thermal power distribution execution unit 10 executes the thermal power distribution process for the targets belonging to the groups G2 and G4, the thermal power loads (G1, G2, G4 between the ships outside the same group) The thermal power distribution process was executed without reflecting the thermal power load. Thereby, since the thermal power distribution execution part 10 has set the fire target of firearms in the order of the groups G1, G2, G4, even if the target belonging to the group G4 is set as the fire target of firearms in particular, There is a possibility that the thermal load exceeds the thermal load threshold excessively, and a target with low priority (particularly, group G4) may be shot out. On the other hand, in the second embodiment, the thermal power distribution execution unit 10 reflects the thermal power load outside the same group of each ship, and then executes the thermal power distribution processing for the targets belonging to the groups G2 and G4.

FIG. 8 is a block diagram showing a configuration of a thermal power distribution apparatus according to Embodiment 2 of the present invention. In FIG. 8, in the second embodiment, the function and operation of the thermal power distribution execution unit 10 are different from those in the first embodiment, and other functions and operations are the same as those in the first embodiment. For this reason, only operation | movement of the thermal power distribution execution part 10 of Embodiment 2 is demonstrated here. In the second embodiment, the ships forming the fleet are four ships S ₁ , S ₂ , S ₃ and S ₄ , and the thermal loads of the ships are L ₁ , L ₂ , L ₃ and L _4. Is described as S ₁ .

Further, in the second embodiment, thermal distribution execution unit 10 stores in advance thresholds H _A and the threshold H _B as thermal load threshold. This threshold value _HA is a value indicating the degree of margin that can support other ships with respect to the thermal load of the own ship, that is, the value of the thermal load that can accept the shooting target of the other ship as the shooting target of the own ship. The threshold value H _B is a value indicating the upper limit of the thermal load of the other ship, that is, a thermal load value that makes it difficult to deal with the shooting target when it exceeds.

First, the thermal power distribution execution unit 10 is based on the thermal power distribution result of each ship stored in the unit thermal power distribution result storage unit 5 and the firearm capability of each ship stored in the unit firearm information storage unit 6. The firepower loads L ₁ , L ₂ , L ₃ , and L ₄ of each ship in are calculated from the number of fire targets (untreated) / firearm capacity. Next, as in the case of the first embodiment, the thermal power distribution execution unit 10 sets all targets belonging to the group G1 as shooting targets of the firearms of the ship. The thermal distribution execution unit 10 reflects the thermal distribution result for the target belonging to the group G1, and calculates the thermal load L ₁ of Time S _1.

Thereafter, the thermal power distribution execution unit 10 checks whether or not the calculated thermal power load L ₁ is equal to or less than the threshold value _HA . At this time, when it is confirmed that the calculated thermal power load L ₁ exceeds the threshold value _HA , the thermal power distribution execution unit 10 executes an allocation process for the target belonging to the group G2. The operation in this case is the same as in the first embodiment. On the other hand, when the thermal power distribution execution unit 10 confirms that the calculated thermal power load L ₁ is not more than the threshold value _HA , the thermal power loads L ₂ , L ₃ , L ₄ of the other ships S ₂ , S ₃ , S ₄ are detected. It is confirmed whether at least one of these exceeds the threshold H _B.

At this time, when the thermal power distribution execution unit 10 confirms that none of the thermal loads L ₂ , L ₃ , L ₄ of the other ships S ₂ , S ₃ , S ₄ exceeds the threshold value H _B , Allocation processing is executed for the target belonging to the group G2. The operation in this case is the same as in the first embodiment. On the other hand, when the thermal power distribution execution unit 10 confirms that at least one of the thermal loads L ₂ , L ₃ and L ₄ of the other ships S ₂ , S ₃ and S ₄ exceeds the threshold value H _B. , Set the corresponding other ship as not being assigned.

And the thermal power distribution execution part 10 performs the allocation process with respect to the target which belongs to the group G2, making only the remaining ships the allocation object. The operation in this case, except that the other ship that thermal load exceeds the threshold value H _B and assigned excluded, is the same as in the first embodiment. Therefore, the thermal power distribution execution unit 10 allocates the corresponding other ship when the ship's thermal load L ₁ is less than or equal to the threshold _HA and there is one or more other ships whose thermal load exceeds the threshold H _B. The allocation process is executed for the target belonging to the group G2 only with the remaining ships. For example, when the thermal load of the ship S ₂ exceeds the threshold value H _B , the thermal distribution execution unit 10 targets only the three ships S ₁ , S ₃ , S ₄ and assigns them to the target belonging to the group G2. Execute the allocation process for.

Next, the thermal power distribution execution unit 10 recalculates the thermal power load L _{1 of the} own ship in order to reflect the result of the allocation process for the target belonging to the group G2 (performs recalculation). The thermal distribution executing unit 10, or thermal load L ₁ is greater than the threshold value H _A, if there is no other ship that thermal load exceeds the threshold value H _B, the thermal distribution processing for target in the group G4 Run. The operation in this case is the same as that in the first embodiment.

On the other hand, the thermal power distribution execution unit 10 has at least one of the thermal loads L ₂ , L ₃ , L ₄ of the other ships S ₂ , S ₃ , S _{4 when} the thermal load L _{1 of the} own ship is equal to or less than the threshold value _HA. When it is confirmed that the threshold value H _B has been exceeded, the corresponding other ship is set as a non-assignment target, and the thermal power distribution process for the target belonging to the group G4 is executed. The operation in this case, except that the other ship that thermal load exceeds the threshold value H _B and assigned excluded, is the same as in the first embodiment.

Therefore, the thermal distribution executing unit 10 of the second embodiment, thermal load is shooting number per unit time of the firearms Time is, when it is confirmed that equal to or less than the threshold value H _A, thermal load is a threshold value H _B The target distributed to the firearms of the other ships that have been exceeded is set as the fire target of the firearm of its own moving body.

  In the thermal power distribution apparatus as described above, when the thermal power distribution execution unit 10 confirms that there is a margin in the thermal load of its own ship, it excludes other ships with high thermal power load from the allocation target, and then the group G2 or G4 The assignment process of the target belonging to is executed. With this configuration, for other ships with high thermal loads on targets belonging to different groups, the allocation of targets is suppressed, and it is possible to prevent only the thermal loads of specific ships from becoming excessively high and to distribute the thermal loads Can be made.

Embodiment 3 FIG.
In the first and second embodiments, even if the shooting target of the firearm of the own ship and the shooting target of the firearm of the other ship overlap, the mutual shooting targets are not actually confirmed. In particular, in the second embodiment, when there is a margin in the thermal load of the ship, the target for the allocation of the other ship that has an excessively high thermal load is accepted as the fire target of the firearm of the ship. When shooting was started, overshoot could occur. On the other hand, in the third embodiment, the overlap determination unit 15 executes the overlap determination process, and confirms whether the fire target of the own ship and the fire target of the other ship overlap each other. Then, the thermal power distribution execution unit 10 executes the thermal power distribution process so as to avoid the duplication.

  FIG. 9 is a block diagram showing the configuration of the thermal power distribution apparatus according to Embodiment 3 of the present invention. In FIG. 9, the thermal power distribution apparatus main body 100 of the third embodiment further includes an overlap determination unit 15. Here, the third embodiment is the same as the first or second embodiment except that the function / operation of the thermal power distribution execution unit 10 is different. For this reason, only operation | movement of the duplication determination part 15 and operation | movement of the thermal power distribution execution part 10 are demonstrated here.

  First, after the thermal power distribution processing of the group G2 or G4 by the thermal power distribution execution unit 10 of the first embodiment or the second embodiment is completed, the duplication determination unit 15 stores each of the units stored in the unit thermal power distribution result storage unit 5 Obtain the thermal power distribution result of a ship. And the duplication determination part 15 performs duplication determination processing based on the acquired thermal power distribution result of each ship. Specifically, when the overlap determination unit 15 executes the overlap determination process, the ship's thermal power distribution result and the other ship's thermal power distribution result are compared, and the same target as the target assigned to the own ship is also transferred to the other ship. It is determined whether or not assignments are made, that is, whether or not assignments of targets are duplicated.

At this time, when it is confirmed by the duplication determination unit 15 that duplication of allocation has occurred, for example, if the own ship is S ₁ and the other ship with the duplication is S ₂ , the thermal power distribution execution unit 10 compares the probable time of each of the own ship S ₁ and the other ship S ₂ with respect to the mutually overlapping targets and the meeting probability. The thermal distribution executing unit 10, when it is confirmed that greater in manageable time Time S _1, for shooting target that the overlapping, set of the shooting target for allocation of Time S ₁ (firearms ).

Further, when the available time of the own ship S ₁ and the other ship S ₂ are the same, the thermal power distribution execution unit 10 determines that the meeting probability of the own ship S ₁ is lower than the meeting probability of the other ship S _2. for shooting targets duplicate, to cancel the allocation of Time S ₁ (set as a shooting target of firearms). If it is confirmed by the duplication determination unit 15 that no duplication of allocation has occurred, the thermal power distribution execution unit 10 keeps the currently set fire target of its own firearm as the fire target. Hold on.

  In the thermal power distribution apparatus as described above, when the overlap determination process is executed by the overlap determination unit 15 and the fire target of the own ship and the fire target of the other ship overlap each other, the overlap is avoided. As described above, the thermal power distribution execution unit 10 executes the thermal power distribution process. With such a function, it is possible to avoid a situation in which the same target is set as a shooting target for firearms of a plurality of ships, and the occurrence of overshoot can be prevented. In addition to this, the consumption rate of thermal resources can be reduced.

  In the third embodiment, when the fire target of the ship's firearm and the fire target of the other ship's firearm overlap, the firepower distribution execution unit 10 determines that the ship's Decided whether to deallocate the target. However, the present invention is not limited to this example, and it may be determined whether to cancel the allocation of the target of the ship based on other information. For example, it may be determined whether or not to cancel the allocation of the target object of the own ship based on the remaining number of bullets and the thermal load of the firearms of the own ship and the other ship.

Embodiment 4 FIG.
In the first to third embodiments, the thermal power distribution processing target extraction unit 7 extracts only targets that are not assigned to any ship among all the targets included in the sensor observation data of each ship in the fleet. It was. Thus, after the target is assigned to a ship with a target, the thermal power distribution execution unit 10 performs a process corresponding to the state change even if a state change occurs in the target or a ship planned to deal with the target. Did not do.

  On the other hand, in the fourth embodiment of the present invention, before the thermal power distribution process target extraction unit 7 executes the process, the reheat power distribution process target extraction unit 16 executes the process, and the target that needs the reheat power distribution is required. Extract the product. Then, the reheating power distribution process target extraction unit 16 cancels the allocation of the extracted target to the ship to be dealt with. The target whose allocation has been canceled is extracted again by the thermal power distribution processing target extraction unit 7 as a thermal power distribution processing target. As a result, the thermal power distribution execution unit 10 performs thermal power distribution again corresponding to the state change of the target or the ship to be dealt with for the target.

  FIG. 10 is a block diagram showing a thermal power distribution apparatus according to Embodiment 4 of the present invention. In FIG. 10, the thermal power distribution apparatus main body 100 according to the fourth embodiment extracts a target to be subjected to re-thermal power distribution processing in addition to the configuration of the thermal power distribution apparatus main body 100 according to the first or second embodiment. The reheating power distribution processing target extraction unit (reheating power distribution processing target extraction device) 16 is further included.

  The thermal power distribution execution unit 10 of the fourth embodiment generates allocation state information when the thermal power distribution process is executed, and stores the generated allocation state information in the thermal power distribution result storage unit 11 together with the thermal power distribution result. Let This allocation state information is information indicating the states of the target for thermal power distribution processing and the own ship at the time when the thermal power distribution processing is performed. This allocation state information includes, for example, the velocity vector of the target, the degree of threat to the ship for the target, the available time of the ship for the target, the position of the ship, etc. The information is associated with the time at the time of the thermal power distribution process.

  The own ship allocation state information stored in the thermal power distribution result storage unit 11 is also stored in the unit thermal power distribution result storage unit 5. Further, the state information at the time of allocation of the own ship stored in the thermal power distribution result storage unit 11 is transmitted to the other ships in the fleet together with the thermal power distribution result information and the firearm information of the own ship by the information transmission unit 14. Here, the unit information receiving unit 4 according to the fourth embodiment receives allocation state information from other ships in the fleet. The allocation state information from other ships is stored in the unit thermal power distribution result storage unit 5 together with the thermal power distribution result information of the other ships. Therefore, each ship in the fleet shares state information at the time of allocation of its own ship and other ships.

  The sensor observation data generated by the sensor unit 1 of the fourth embodiment includes the current position information of the own ship and information indicating the existing state, and the sensor observation data from the other ship includes the current position information of the other ship. And information indicating the existing state. In addition, the sensor information integrated storage unit 3 of the fourth embodiment integrates and stores the current position information of the own ship and other ships and information indicating the existing state together with the sensor observation data of the own ship and other ships.

  The reheating power distribution processing target extraction unit 16 uses the sensor observation data in the sensor information integrated storage unit 3 and the thermal power distribution result information and allocation state information in the unit thermal power distribution result storage unit 5 to select one of the fleets. The state change of the target assigned to the ship and the ship scheduled to deal with the assigned target is monitored. Then, the reheating power distribution processing target extraction unit 16 uses the information to change the state of the allocated target and the ships scheduled to deal with the allocated target from the time of allocation to the present. Get the quantity.

  Then, the reheating power distribution processing target extraction unit 16 among the targets included in the sensor observation data of each ship in the fleet has already been assigned to any ship (regardless of own ship or other ship). It is determined whether or not a reheating power distribution is necessary for an object. When the reheating power distribution processing target extraction unit 16 determines that reheating power distribution is necessary for a certain target, the reheating power distribution processing target extraction unit 16 cancels the assignment of the target to the ship. At the same time, the reheating power distribution processing target extraction unit 16 cancels the setting as the shooting target when the target is set as the shooting target of the firearm of the ship.

  Next, the reheating power distribution necessity determination process by the reheating power distribution process target extraction unit 16 and the determination criteria of the reheating power distribution necessity determination process will be described. Here, in the thermal power distribution process by the thermal power distribution execution unit 10, the threat level of the target to the own ship and other ships is a criterion for allocation determination. For this reason, when there is a change in the state of a target or ship that has a great influence on the threat level, it is necessary to redistribute the target to the optimal ship. At the same time, even if there is a change in status that has a significant effect on matters that are greatly related to whether or not the response success rate, possible response time, etc. can be dealt with, it is necessary to redistribute firepower. Therefore, the criteria for determining the necessity / unnecessity condition for re-heating power distribution are criteria corresponding to the contents of the threat level, the success rate of response, and the available time for response.

  FIG. 11 is a flowchart showing the reheating power distribution necessity determination process by the reheating power distribution process target extraction unit 16 of FIG. Here, the plurality of threshold values in FIG. 11 are predetermined reheating power distribution criteria, and are stored in advance in the reheating power distribution processing target extraction unit 16 or stored in other functions in the heating power distribution apparatus main body 100. Yes. In addition, values of properties corresponding to the respective determination contents are set in these threshold values, and these threshold values are values that can be determined as appropriate.

  Furthermore, in general, the calculation process of the threat level, the response success rate, and the response possible time requires a relatively large amount of calculation, and therefore the determination order of the conditions shown in FIG. 11 is an order in which the calculation amount is as small as possible. It has become. In addition, the same effect can be acquired even if it replaces the calculation order of each step about the determination order of the conditions shown in FIG.

  Here, the reheating power distribution processing target extracting unit 16 has a target that has been allocated to the ship or other ship and has not been dealt with from the sensor information integrated storage unit 3 and the unit thermal power distribution result storage unit 5. If so, the series of processes shown in FIG. 11 is executed.

  Specifically, first, the reheating power distribution processing target extraction unit 16 has been assigned to the own ship or another ship based on the information stored in the sensor information integrated storage unit 3 and the unit thermal power distribution result storage unit 5, and When it is confirmed that there is an unhandled target, the allocated target is identified as a target of the necessity determination process for re-fire power distribution (hereinafter referred to as “target target”). . In addition, when the reheating power distribution processing target extraction unit 16 confirms that there are a plurality of such targets in the sensor observation data of the ship or the other ship, one of them is selected as the target target. As specified. Further, the reheating power distribution processing target extraction unit 16 specifies a ship to be dealt with as a target target (hereinafter referred to as “target ship”) based on information stored in the unit fire power distribution result storage unit 5. .

  Next, in FIG. 11, in step S <b> 1, the reheating power distribution processing target extraction unit 16 confirms whether or not the target ship cannot cope with the target target. Specifically, the refire power distribution processing target extraction unit 16 determines whether or not the firearm of the target ship is unusable based on the information in the unit firearm information storage unit 6 and (when the target ship is another ship). It is confirmed whether the target ship exists based on the information in the sensor information integrated storage unit 3.

  At this time, when the reheating power distribution processing target extraction unit 16 confirms that the target ship cannot cope with the target target in Step S1 (YES direction in Step S1), the process proceeds to Step S11. To do. In step S11, the reheating power distribution process target extraction unit 16 determines that reheating power distribution is necessary for the target target, and extracts the target target as a reheating power distribution target.

  Then, the reheating power distribution process target extraction unit 16 updates the information in the thermal power distribution result storage unit 11 and the unit thermal power distribution result storage unit 5 and cancels the allocation of the target target to the target ship. Further, when the target ship is the own ship, the refire power distribution process target extraction unit 16 also cancels the setting of the target target as a fire target.

  Owing to the processing in step S1 and step S11, the occurrence of breach due to the target being left assigned to the ship that cannot be dealt with is prevented. Then, the reheating power distribution process target extraction unit 16 ends the reheating power distribution necessity determination process for the target target.

  On the other hand, when it is confirmed in step S1 that the target ship can cope with the target target in step S1 (NO direction in step S1), the reheating power distribution processing target extraction unit 16 proceeds to step S2. In step S <b> 2, the reheating power distribution processing target extraction unit 16 confirms whether or not the target ship has moved more than a threshold from the time of allocation based on information in the sensor information integrated storage unit 3 and the unit thermal power distribution result storage unit 5.

  At this time, if it is confirmed that the target ship has moved more than the threshold value from the time of allocation (YES direction of step S2), the reheating power distribution process target extraction unit 16 proceeds to step S11 and performs the same process. . This is because if the position of the target ship moves greatly, all of the threat level, shooting probability, and response time may be greatly affected.

  Further, when it is confirmed in step S2 that the target ship has not moved more than the threshold value from the time of allocation (NO direction in step S2), the reheating power distribution processing target extraction unit 16 proceeds to step S3. In step S3, the reheating power distribution processing target extraction unit 16 determines that the current direction of travel of the target is greater than or equal to the threshold from the time of allocation based on the information in the sensor information integrated storage unit 3 and the information in the unit thermal power distribution result storage unit 5. Check if it has changed.

  At this time, if the reheating power distribution process target extraction unit 16 confirms that the current target object travel direction has changed by more than a threshold value from the time of allocation in step S3 (YES direction of step S3), step S11 The same process is executed. This is because the change in the traveling direction of the target object may greatly affect the threat level, the shooting probability, and the coping time.

  If the reheating power distribution processing target extraction unit 16 confirms that the current target object traveling direction has not changed by more than a threshold value from the time of allocation in step S3 (NO direction in step S3), step S4 Migrate to In step S4, the reheating power distribution processing target extraction unit 16 determines that the current target target speed has changed by more than a threshold value from the allocation time point based on information in the sensor information integrated storage unit 3 and the unit thermal power distribution result storage unit 5. Check whether or not.

  At this time, if the reheating power distribution process target extraction unit 16 confirms in step S4 that the current target target speed has not changed more than the threshold value from the allocation time (NO direction in step S4), the allocation is performed. It is determined that the change in the threat level of the target target from the time is relatively small, and the process proceeds to step S9.

  On the other hand, if the reheating power distribution processing target extraction unit 16 confirms in step S4 that the current target target speed has changed by more than a threshold value from the allocation time (YES direction in step S4), the threat level, successful response, and so on Since there is a possibility that there is a great influence on the rate and available time, the process proceeds to step S5. It should be noted that at the stage where the speed change of the target object related to this step S4 is confirmed, it is predicted that the influence will be small compared to the case where the change in the traveling direction of the target target is confirmed. Therefore, at this point in time, it is not yet determined that the reheating power distribution is necessary.

  Then, in step S5, the reheating power distribution process target extraction unit 16 recalculates the response success rate of the target object of the target ship, and confirms whether or not the response success rate is less than the threshold value. At this time, if the reheating power distribution process target extraction unit 16 confirms that the response success rate of the target target of the target ship is less than the threshold, the process proceeds to step S11 and performs the same process. By the processing of step S5 and step S11, it is prevented from being assigned to the target ship having a relatively low response success rate.

  On the other hand, the reheating power distribution process target extraction unit 16 proceeds to step S6 when it is confirmed in step S5 that the success rate of dealing with the target of the target ship is equal to or greater than the threshold (NO direction of step S5). In step S6, the reheating power distribution processing target extraction unit 16 has the threat level of the target target to the target ship in the allocation state exceeding the threshold value H used in the thermal power distribution processing target classification unit 9 in the first embodiment. Confirm whether or not.

  At this time, if the reheating power distribution processing target extraction unit 16 confirms in step S6 that the threat level of the target target to the target ship in the allocation state is equal to or less than the threshold value H (NO in step S6) Direction), the possibility that the target target has been assigned to the target ship for a reason other than the threat level is relatively high. Therefore, the change in the threat level is ignored, and the process proceeds to step S8.

  On the other hand, if the reheating power distribution processing target extraction unit 16 confirms that the threat level of the target target to the target ship in the state at the time of allocation exceeds the threshold value H in step S6 (YES direction in step S6) ) Because the threat level is the main reason, there is a relatively high possibility that the target target has been assigned to the target ship, so the process proceeds to step S7.

  In step S7, the reheating power distribution processing target extraction unit 16 recalculates the threat level of the current target object to the target ship and confirms whether or not the current threat level is equal to or less than the threshold value H. . At this time, if the reheating power distribution processing target extraction unit 16 confirms that the threat level of the current target object is equal to or less than the threshold value H in step S7 (YES direction in step S7), the process proceeds to step S11. Then, the same processing is performed. By the processing of step S7 and step S11, the target object assigned to the target ship mainly due to the threat level is assigned to a more optimal ship.

  On the other hand, if it is confirmed in step S7 that the threat level of the current target target exceeds the threshold value H (NO direction in step S7), the reheating power distribution processing target extraction unit 16 executes reheating power distribution. Even so, since there is a high possibility that it will be assigned to the same ship, it is determined that the re-heating power distribution is unnecessary, and the process proceeds to step S8.

  Then, in step S8, the reheating power distribution processing target extraction unit 16 greatly affects the response time of the target ship if the speed of the target target changes relatively greatly from the time of allocation. The coping time is recalculated, the contents stored in the unit thermal power distribution result storage unit 5 are updated, and the process proceeds to step S9.

  Thereafter, in step S9, the reheating power distribution process target extraction unit 16 confirms whether there is a grace period corresponding to the time that the target ship can handle, based on the stored contents of the unit thermal power distribution result storage unit 5. At this time, if the reheating power distribution process target extraction unit 16 confirms that there is no delay for the time that the target ship can handle (NO direction of step S9), the process proceeds to step S11 and the same process is performed. Do. By the processing of step S9 and step S11, it is prevented from remaining assigned to a ship that is difficult to deal with in time.

  On the other hand, if the reheating power distribution processing target extraction unit 16 confirms that there is a grace period corresponding to the time that the target ship can handle (YES in step S4), the process proceeds to step S10. Then, in step S10, the reheating power distribution processing target extraction unit 16 determines that the target ship can handle the target to be dealt with, that is, determines that reheating power distribution is unnecessary for the target target, and determines the current allocation. Continue state. Thereby, the reheating power distribution process target extraction unit 16 ends the process of determining whether or not the reheating power distribution regarding the target target is necessary.

  In addition, if the reheating power distribution processing target extraction unit 16 does not execute the process for determining whether or not the reheating power distribution is necessary for another target after step S10 or step S11, the target that has not been executed. An object is specified as a new target object, and a series of processes shown in FIG. 11 are repeated.

  Furthermore, after the assignment of the target is canceled by the processing of the reheating power distribution processing target extraction unit 16 described above, the functions 7 to 11 in the thermal power distribution apparatus main body 100 perform the processing of the first embodiment or the second embodiment. Run. That is, the functions 7 to 11 in the thermal power distribution apparatus main body 100 execute the thermal power distribution by releasing the allocation to the ship by the process of the thermal power distribution processing target extraction unit 16. Other configurations and operations are the same as those in the first embodiment or the second embodiment.

  In the thermal power distribution apparatus as described above, when it is determined by the re-thermal power distribution processing target extraction unit 16 that re-thermal power allocation is necessary for a target that has been allocated to any ship, the ship to the target ship Release the assignment. Thermal power distribution is again executed by the functions 7 to 11 in the thermal power distribution apparatus main body 100 for the target whose allocation has been canceled. With this configuration, according to the change in state from the time of assignment, the target ship will be changed to a more optimal ship, so the target will remain assigned to a ship that is difficult to shoot down. Occurrence of shooting and leakage can be prevented. At the same time, it is possible to prevent a delay in dealing with the target. In addition to this, by selecting a more optimal ship, a more optimal number of remaining bullets and thermal load can be equalized.

  Here, in addition to the method of extracting a part of the allocated target and executing the re-heating power distribution as in the thermal power distribution apparatus of the fourth embodiment, all targets including the allocated target are obtained. As a processing target, a method in which the thermal power distribution execution unit 10 executes the thermal power distribution processing (hereinafter referred to as “comparison method”) can be considered. However, this comparison method has the following problems.

  In the comparison method, an assigned target with a small change in state is likely to be assigned to the same ship even if re-fire power allocation is executed, and the re-fire power allocation is likely to be a wasteful process as a result. . Further, in the comparison method, it is necessary to recalculate the threat level of all ships for the target, and generally, the calculation amount of the calculation process is relatively large. Furthermore, since the thermal power distribution process is periodically executed, it is necessary to complete the process within a finite time.

  With respect to these problems, in the thermal power distribution apparatus according to the fourth embodiment, only a target having a relatively large change amount is subjected to the re-thermal power distribution process. The time required for the distribution process can be shortened compared to the comparison method. In addition, since the target of threat level recalculation is also limited, an increase in the amount of calculation in the calculation process can be suppressed.

  In addition, when the thermal power distribution process is always executed for all targets as in the comparison method, there is a possibility that the ship scheduled to deal with a certain target may be changed frequently, which makes it difficult for the user to intervene. There is also a problem that it becomes difficult to reflect the user's decision making in the result of the thermal power distribution process. On the other hand, in the thermal power distribution apparatus according to the fourth embodiment, since the change of the assignment target of the target is limited to some extent, the user can intervene relatively easily, and the user's decision making is distributed to the thermal power distribution. This can be reflected in the processing result relatively easily.

  Note that the configuration related to the reheating power distribution processing target extraction unit 16 of the fourth embodiment can also be applied to the thermal power distribution apparatus main body 100 of the third embodiment. That is, the reheating power distribution process target extraction unit 16 of the fourth embodiment and the overlap determination unit 15 of the third embodiment can be used in combination.

  In the fourth embodiment, as shown in FIG. 11, the state change amount of the target object from the time of allocation to the present (steps S3, 4, 6, and 7) and the state of the target ship from the time of allocation to the present Both the amount of change (steps S1, 2, 5, and 9) are the criteria for determining whether or not re-heating power distribution is necessary. However, the present invention is not limited to this example, and only one of these may be used as a criterion for determining the necessity of re-heating power distribution.

  Further, in the first to fourth embodiments, the ship (own ship and other ships) is used as the moving body, but the moving body of the present invention is not limited to a moving body on the water such as a ship. For example, airborne vehicles such as aircraft and helicopters, underwater vehicles such as submarines, and land vehicles such as vehicles can be used as the mobile device of the present invention, or a combination of these types of mobile devices. Even if it uses, the effect similar to Embodiment 1-4 can be acquired.

  In the first to fourth embodiments, sensor observation data (detection information) by the sensor unit of each ship is shared within the fleet, but the source of detection information is not limited to the sensor part of each ship. . For example, the source of detection information may be an AWACS (Airborne Warning And Control System) or a surveillance satellite. In addition, a radar, AWACS, a monitoring satellite, or the like may be combined and combined to generate detection information.

  DESCRIPTION OF SYMBOLS 1 Sensor part (detection apparatus), 2 unit sensor information collection part, 3 sensor information integrated storage part, 4 unit information reception part, 5 unit fire power distribution result storage part, 6 unit firearm information storage part, 7 thermal power distribution process object extraction part , 8 Threat degree / meeting probability calculation section (threat degree calculation section), 9 Thermal power distribution processing target classification section, 10 Thermal power distribution execution section, 11 Thermal power distribution result storage section, 12 Firearm information storage section, 13 Firearm information update section, 14 Information transmission unit, 15 overlap determination unit, 16 reheating power distribution processing target extraction unit, 100 thermal power distribution apparatus main body.

Claims (4)

A plurality of the targets included in the detection information based on the detection information of the target that is arranged in each of the plurality of moving bodies on which a firearm that shoots the target is mounted and is shared by the plurality of moving bodies. Is a thermal power distribution apparatus that allocates a part of the fire as a fire target of the fire of the mobile body to the mobile body,
An information transmitting / receiving unit that transmits and receives firearm information including information on the remaining number of bullets of the firearm and information on a maximum value that can be fired simultaneously with the firearm,
An information storage unit for storing the firearm information of the other moving body received by the information transmitting / receiving unit, and the firearm information of the mobile body of its own;
Based on the detection information, a threat level calculation unit that calculates a threat level, which is an index related to predicted damage to the moving body by the target, for each moving body and each target;
Among the plurality of targets included in the detection information, the target that the mobile unit copes with the target in which the threat level with respect to the mobile unit exceeds a preset threshold value. The set of targets for which the own moving body and the other moving body share and deal with the target whose threat to the moving body is equal to or less than the threshold value to a self handling group A target classifying section for classifying each into a shared handling group,
A thermal power distribution execution unit that assigns the target belonging to the self-handling group to the mobile body as a fire target of the firearm of the mobile body;
The thermal power distribution execution unit equalizes the number of remaining ammunition of the moving body after dealing with the target based on the firearm information stored in the information storage unit, and the plurality of movements All the targets belonging to the shared handling group are assigned to each of the plurality of mobile bodies so as to minimize the number of overshoots that the body fires against the same target, The thermal power distribution apparatus characterized in that the target assigned to a moving body is set as a shooting target of the firearm of the mobile body of its own. The thermal distribution executing unit, if said information the thermal load of the moving body of the own based on the firearm information storage unit in which the stored, was confirmed to be less than the first thermal load threshold value set in advance In addition, it is confirmed whether the thermal load of the other mobile body exceeds a preset second thermal power load threshold, and the other mobile body where the thermal power load exceeds the second thermal power load threshold If there is one or more, the corresponding other moving bodies are excluded from allocation, and all the targets belonging to the shared handling group are assigned to the own moving body and the remaining other moving bodies, respectively . The thermal power distribution apparatus according to claim 1, wherein the target assigned and assigned to the mobile object is set as a fire target of the firearm of the mobile object. Information received from the other mobile body together with the firearm information and stored in the information storage section with the other mobile body by the information transmitting / receiving unit and set in the firearm of the other mobile body Based on the information on the result of thermal power distribution indicating the target to be fired and the information on the result of thermal power distribution of the target to the firearm of the mobile object of the own by the thermal power distribution execution unit. A duplication determination unit that determines whether or not the shooting targets of the firearms of the moving body overlap each other,
The thermal power distribution execution unit, when the overlap determination unit determines that the shooting targets of the firearms of the own mobile body and the other mobile body overlap, the own mobile body and the other When the response time of the moving object is compared and it is confirmed that the response time of the own moving object is larger than that of the other moving object, the overlapping shooting target The thermal power distribution apparatus according to claim 1 or 2, wherein the setting of the moving object as a shooting target of the firearm is canceled. The detection information includes information indicating a current position and an existing state of each of the plurality of moving objects,
The movement of any one of the plurality of moving bodies using at least one of the detection information, information received by the information transmitting / receiving unit from the other moving body, and information stored in the information storage unit. Monitoring each state change of the target assigned to the body and the moving object scheduled to deal with the assigned target, and a state change amount of the assigned target from the time of the assignment to the present time, Reheating power distribution processing target for determining whether or not reheating power distribution is necessary based on at least one of the state change amount of the moving body to be dealt with from the allocation time to the present time and a predetermined reheating power distribution standard An extractor,
When the reheating power distribution processing target extraction unit determines that reheating power distribution is necessary for the allocated target,
Canceling the allocation of the allocated target to the corresponding mobile unit, and
When the assigned target is set as a fire target of the firearm of the mobile object, the setting is canceled,
The threat level calculation unit, the target classification unit, and the thermal power distribution execution unit perform respective processes on the target that has been unassigned to the moving object by the re-thermal power distribution processing target extraction unit. The thermal power distribution apparatus according to any one of claims 1 to 3, wherein

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