Collaborative Decision-making and Synchronized Detonation Method for Swarm Munitions Based on FPGA

doi:10.12382/bgxb.2024.0928

Abstract

Abstract:

To address the needs for intelligent decision-making and synchronized strikes in loitering munition swarms and to enable the application of theoretical algorithms on resource-constrained hardware platforms,this study proposes a threat assessment mathematical model and distribution method tailored for Field Programmable Gate Array (FPGA).Utilizing techniques such as Analytic Hierarchy Process (AHP),entropy-based evaluation,and the Technique for Order Preference by Similarity to Ideal Solution (TOPSIS),the model incorporates radix sorting and equivalent substitution to construct an FPGA-based threat assessment framework.A multi-node low-latency adaptive delayed detonation method is developed based on a distributed communication architecture and multi-hop data transmission strategy.Comparative simulations on both software and hardware platforms demonstrate the proposed model's efficiency and accuracy,achieving a computation time of 50μs per evaluation.Full-process simulations validate the feasibility of multi-node task allocation,node security,state transitions,and adaptive delayed detonation.Dynamic multi-node experiments further confirm the accuracy and effectiveness of four-node collaborative decision-making.Static end-to-end experiments validate precise synchronized detonation,with a total delay of detonation signal output across four nodes not exceeding 200μs.

Key words: swarm munitions, cooperative decision-making, distributed communication, synchronized detonation

CLC Number:

TJ430

ZHANG Chuanhao, LI Haojie, LI Changsheng, ZHANG Lingyun, QIAO Shixiang, YU Hang. Collaborative Decision-making and Synchronized Detonation Method for Swarm Munitions Based on FPGA[J]. Acta Armamentarii, 2025, 46(8): 240928-.

Figures/Tables 25

Fig.1 Basic process of coordinated operations for swarm munitions

Fig.2 Implementation of radix sort on FPGA

Fig.3 Process of threat assessment implementation on FPGA

Fig.4 Task allocation process

Fig.5 Four-Node distributed communication structure

Fig.6 Four-Node communication process

Table 1 Threat values corresponding to each attribute for each objective

目标	类型	搜索	机动	打击	距离
防空导弹车	8	6	6	2	4
火箭炮	9	5	5	8	4
单兵	3	3	3	3	5
坦克	6	5	6	7	4
步战车	5	4	7	6	7

Fig.7 Subjective weight ranking obtained by analytic hierarchy process

Fig.8 Solving process and objective weight ranking using entropy method

Fig.9 Final weight ranking process

Fig.10 Calculation of threat values for each objective and relative size ranking

Table 2 Comparison of simulation results with different input parameter changes

仿真情况	相对重要程度	威胁度矩阵	权重值		威胁度值
仿真情况	相对重要程度	威胁度矩阵	软件平台仿真	硬件平台仿真	软件平台仿真		硬件平台仿真
1	8,6,5,7,6	8,6,6,2,6;9,5,5,8,6;3,3,3,3,3;6,5,6,7,4;5,4,7,6,7	0.23,0.14,0.14,0.30,0.17	478,438,436,500,449	0.40,0.86,0.12,0.66,0.59	79,252,5,200,171
2	8,6,5,7,6	9,7,6,8,6;8,5,5,2,6;3,3,3,6,5;6,5,6,2,4;5,4,7,2,7	0.21,0.14,0.12,0.38,0.11	465,435,424,558,419	0.95,0.24,0.54,0.19,0.18	255,45,117,24,16
3	6,4,5,6,7	8,6,6,2,6;9,5,5,8,6;3,3,3,3,3;6,5,6,7,4;5,4,7,6,7	0.22,0.12,0.15,0.30,0.20	468,426,441,498,465	0.40,0.85,0.12,0.65,0.62	77,251,5,200,177
4	6,4,5,6,7	9,7,6,8,6;8,5,5,2,6;3,3,3,6,5;6,5,6,2,4;5,4,7,2,7	0.19,0.12,0.14,0.38,0.15	455,423,429,556,435	0.94,0.24,0.55,0.18,0.20	254,44,128,19,23

Fig.11 Task allocation simulation process

Fig.12 Node 1 safety status and transmission/reception state transition process

Fig.13 Node 2 safety status and transmission/reception state transition process

Fig.14 Node 3 safety status and transmission/reception state transition process

Fig.15 Node 4 safety status and transmission/reception state transition process

Fig.16 Four-Node communication and detonation monitoring platform

Fig.17 Dynamic decision-making field test with four nodes

Fig.18 Signal waveforms of transmission and reception for some nodes

Fig.19 Data Information Uploaded by Some Nodes

Fig.20 Four-Node coordinated decision and synchronized detonation experiment process

Fig.21 Data information uploaded by each node received by the upper computer

Fig.22 Signal waveform transmission and reception of each node

Fig.23 Detonation signal waveform of each node

References 20

[1]	GULDEN T R, LAMB J, HAGEN J, et al. Modeling rapidly composable,heterogeneous,and fractionated forces:findings on mosaic warfare from an agent-based model[M]. Santa Monica,CA,US: RAND Corporation, 2021.
[2]	赵新路, 熊西军, 张涛, 等. 基于IAM的巡飞弹群分布式协同侦察方法研究[J]. 战术导弹技术, 2022(3):47-53,97.
	ZHAO X L, XIONG X J, ZHANG T, et al. Research on distributed cooperative reconnaissance methods for loitering munition swarms based on IAM[J]. Tactical Missile Technology, 2022(3) :47-53,97. (in Chinese)
[3]	曹立飞. 巡飞弹协同攻击决策算法及作战仿真研究[D]. 太原: 中北大学, 2021.
	CAO L F. Research on cooperative attack decision-making algorithm and combat simulation for loitering munitions[D]. Taiyuan: North University of China, 2021. (in Chinese)
[4]	张婷婷, 杨学军. 基于强化学习的城市场景下巡飞弹自主协同饱和攻击方法[J]. 指挥与控制学报, 2023, 9(4):457-468.
	ZHANG T T, YANG X J. Autonomous cooperative saturation attack method for loitering munitions in urban scenarios based on reinforcement learning[J]. Journal of Command and Control, 2023, 9(4):457-468. (in Chinese)
[5]	徐艺博, 于清华, 王炎娟, 等. 基于多源信息融合的巡飞弹对地目标识别与毁伤评估[J]. 系统仿真学报, 2024, 36(2):511-521. doi: 10.16182/j.issn1004731x.joss.22-1130
	XU Y B, YU Q H, WANG Y J, et al. Ground target recognition and damage assessment of loitering munitions based on multi-source information fusion[J]. Journal of System Simulation, 2024, 36(2):511-521. (in Chinese)
[6]	张传昊, 李豪杰, 宫雪峰, 等. 基于电子安全系统的巡飞弹引信多态安全逻辑控制方法设计及验证[J]. 兵工学报, 2023, 44(10):3079-3090. doi: 10.12382/bgxb.2022.0522
	ZHANG C H, LI H J, GONG X F, et al. Design and verification of a multi-state safety logic control method for loitering munition fuzes based on an electronic safety system[J]. Acta Armamentarii, 2023, 44(10):3079-3090. (in Chinese)
[7]	李少卿, 彭志凌, 赵河明, 等. 巡飞弹电子安全系统程序设计与仿真[J]. 兵器装备工程学报, 2022, 43(5):303-308.
	LI S Q, PENG Z L, ZHAO H M, et al. Program design and simulation of electronic security system of cruise missile[J]. Chinese Journal of Weaponry and Equipment Engineering, 2022, 43(5):303-308. (in Chinese)
[8]	CHEN Z P, LI H J, YU H, et al. Research on UAV flight parameter identification method based on launch force and airspeed[J]. Sensors, 2024, 24:1597.
[9]	宫雪峰, 李豪杰, 陈志鹏, 等. 基于能量域的引信环境识别[J]. 探测与控制学报, 2023, 45(1):11-16.
	GONG X F, LI H J, CHEN Z P, et al. Fuzes environmental recognition based on energy domain[J]. Journal of Detection and Control, 2023, 45(1):11-16. (in Chinese)
[10]	吕斯宁, 肖川, 冯恒振, 等. 集群协同作战技术现状与战争应用综述[J/OL]. 探测与控制学报,1-16[2024-09-29].
	LÜ S N, XIAO C, FENG H Z, et al. Overview of the current status and warfare applications of swarm cooperative combat technology[J/OL]. Journal of Detection and Control,1-16 [2024-09-29]. (in Chinese)
[11]	杨璐, 刘付显, 张涛, 等. 基于组合赋权TOPSIS法的舰艇编队空中目标威胁评估模型[J]. 电光与控制, 2019, 26(8):6-11.
	YANG L, LIU F X, ZHANG T, et al. Threat assessment model for air targets of naval formations based on the combined weighting TOPSIS method[J]. Electro-Optics & Control, 2019, 26(8):6-11. (in Chinese)
[12]	张堃, 周德云. 熵权与群组AHP相结合的TOPSIS法多目标威胁评估[J]. 系统仿真学报, 2008, 20(7):1661-1664.
	ZHANG K, ZHOU D Y. Multi-objective threat assessment using the TOPSIS method combined with entropy weight and group AHP[J]. Journal of System Simulation, 2008, 20(7):1661-1664. (in Chinese)
[13]	常天庆, 赵立阳, 郭理彬, 等. 坦克战场环境多目标威胁评估方法研究[J]. 兵器装备工程学报, 2019, 40(5):88-93.
	CHANG T Q, ZHAO L Y, GUO L B, et al. Research on multi-objective threat assessment method for tank battlefield environments[J]. Journal of Ordnance Equipment Engineering, 2019, 40(5):88-93. (in Chinese)
[14]	周瑞, 黄长强, 黄汉桥, 等. 多巡飞弹协同攻击目标优化分配研究[J]. 计算机仿真, 2017, 34(8):110-114,416.
	ZHOU R, HUANG C Q, HUANG H Q, et al. Research on optimal target allocation for cooperative attack of multiple loitering munitions[J]. Computer Simulation, 2017, 34(8):110-114,416. (in Chinese)
[15]	谭宇晓. 封控弹药组网引信传输技术研究[D]. 北京: 北京理工大学, 2015.
	TAN Y X. Research on networking fuzes transmission technology for encapsulated munitions[D]. Beijing: Beijing Institute of Technology, 2015. (in Chinese)
[16]	郭诚欣, 陈红, 孙辉, 等. 基于现代硬件的并行内存排序方法综述[J]. 计算机学报, 2017, 40(9):2070-2092.
	GUO C X, CHEN H, SUN H, et al. A review of parallel memory sorting methods based on modern hardware[J]. Chinese Journal of Computers, 2017, 40(9):2070-2092. (in Chinese)
[17]	邓雪, 李家铭, 曾浩健, 等. 层次分析法权重计算方法分析及其应用研究[J]. 数学的实践与认识, 2012, 42(7):93-100.
	DENG X, LI J M, ZENG H J, et al. Analysis of weight calculation methods in analytic hierarchy process and their application[J]. Mathematics in Practice and Theory, 2012, 42(7):93-100. (in Chinese)
[18]	张传昊, 李豪杰, 于航, 等. 基于合同网的巡飞弹任务分配算法及模型[J]. 探测与控制学报, 2023, 45(1):84-90.
	ZHANG C H, LI H J, YU H, et al. Task allocation algorithm and model for loitering munitions based on contract net[J]. Journal of Detection and Control, 2023, 45(1):84-90. (in Chinese)
[19]	唐强, 骆海涛, 郑小燕, 等. 基于无线传感器网络节点的高速无线组网传输方法[J]. 探测与控制学报, 2014, 36(2):69-73.
	TANG Q, LUO H T, ZHENG X Y, et al. High-speed wireless networking transmission method based on wireless sensor network nodes[J]. Journal of Detection and Control, 2014, 36(2):69-73. (in Chinese)
[20]	李辉, 方丹, 高伟伟, 等. 巡飞弹蜂群关键技术与战术构想研究[J]. 战术导弹技术, 2020(4):58-63.
	LI H, FANG D, GAO W W, et al. Research on key technologies and tactical concepts for loitering munition swarms[J]. Tactical Missile Technology, 2020(4):58-63. (in Chinese)