无人机分布式集群态势感知模型研究

以无人机(UAV)为代表的无人系统分布式集群作战是未来战斗力的增长点，集群态势感知是集群作战的重要环节。该文在典型态势感知模型的基础上，从理论模型、态势感知一致性、评价方法等方面，对无人机分布式集群态势感知展开研究。将基于动态系统的Endsley1995态势感知(SA)模型中的心智模型修改为人机智能模型，得到无人机个体的态势感知模型；基于团体SA和分布式SA(DSA)理论，按照无人机集群类型，分别设计同构和异构无人机集群SA模型；对无人机集群SA中的一致性问题和评价问题进行分析，给出同构无人机集群SA的一致性形成过程，异构无人机集群SA的一致性判断方法和无人机集群SA评价方法的选择流程。分析表明，建立的集群态势感知模型符合集群协同作战特点，有一定的积极意义。

UAV Distributed Swarm Situation Awareness Model

The distributed swarm operation of unmanned systems represented by Unmanned Aerial Vehicle (UAV) is the growth point of the future war, and the swarm situation awareness is an important part. Based on the typical situation awareness model, the distributed swarm situation awareness of UAV is studied. Firstly, in the individual level, the mental model in the dynamic system of the Endsley1995 Situation Awareness (SA) model is modified as a human-computer intelligent model. Then in accordance with the UAV swarm type, isomorphic and heterogeneous, based on the team SA and Distributed SA (DSA) theory, the UAV swarm SA model are built. Then, the consensus and evaluation problems of UAV Swarm SA are analyzed. The consensus formation process of isomorphic UAV swarm SA and the consensus judgment method of heterogeneous UAV swarm SA are given. And the choice of UAV swarm SA evaluation method is analyzed. The analysis shows that the proposed swarm situation awareness model is corresponding to the swarm cooperative combat characteristics and has certain positive significance.