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MAO J , FU H , CHU C Q , et al . A review of simultaneous localization and mapping based on inertial-visual-lidar fusion [J ] . Navigation Positioning and Timing , 2022 , 9 ( 4 ): 17 - 30 . (in Chinese)

潘时龙 , 张亚梅 . 微波光子雷达及关键技术 [J ] . 科技导报 , 2017 , 35 ( 20 ): 36 - 52 .

PAN S L , ZHANG Y M . Microwave photonic radar and key technologies [J ] . Science & Technology Review , 2017 , 35 ( 20 ): 36 - 52 . (in Chinese)

郭光灿 , 陈以鹏 , 王琴 . 量子计算机研究进展 [J ] . 南京邮电大学学报(自然科学版) , 2020 , 40 ( 5 ): 3 - 10 .

GUO G C , CHEN Y P , WANG Q . Advances in quantum computer research [J ] . Journal of Nanjing University of Posts and Telecommunications (Natural Science Edition) , 2020 , 40 ( 5 ): 3 - 10 . (in Chinese)

王天枢 , 林鹏 , 董芳 , 等 . 空间激光通信技术发展现状及展望 [J ] . 中国工程科学 , 2020 , 22 ( 3 ): 92 - 99 .

WANG T S , LIN P , DONG F , et al . Progress and prospect of space laser communication technology [J ] . Strategic Study of CAE , 2020 , 22 ( 3 ): 92 - 99 . (in Chinese) DOI: 10.15302/J-SSCAE-2020.03.014 http://doi.org/10.15302/J-SSCAE-2020.03.014 http://journal.hep.com.cn/sscae/EN/10.15302/J-SSCAE-2020.03.014 http://journal.hep.com.cn/sscae/EN/10.15302/J-SSCAE-2020.03.014

杨克巍 , 杨志伟 , 谭跃进 , 等 . 面向体系贡献率的装备体系评估方法研究综述 [J ] . 系统工程与电子技术 , 2019 , 41 ( 2 ): 311 - 321 .

YANG K W , YANG Z W , TAN Y J , et al . Review of the evaluation methods of equipment system of systems facing the contribution rate [J ] . Systems Engineering and Electronics , 2019 , 41 ( 2 ): 311 - 321 . (in Chinese) DOI: 10.3969/j.issn.1001-506X.2019.02.13 http://doi.org/10.3969/j.issn.1001-506X.2019.02.13 From the perspective of the evaluation on the contribution rate of weapon system of systems, this article summarizes the current research status and the technical difficulties in this research field. More specifically, the methods based on the combat loop, complex network, evidence reasoning, gray target theory, Bayes network, the structural equation model, exploratory analysis etc. are used to evaluate the contribution rate of weapon equipment system of systems. Furthermore, their advantages and disadvantages are compared and analyzed. Base on the comparisons, the method based on operation loops and complex networks which takes into consideration the relations between different weapons is able to assess the contribution of the weapon equipment in multiple dimensions. Hence, this method can provide more scientific and reasonable results to decision makers.

TRAN H T , DOMERÇANT J C , MAVRIS D N . Evaluating the agility of adaptive command and control networks from a cyber complex adaptive systems perspective [J ] . Journal of Defense Modeling and Simulation:Applications, Methodology, Technology , 2015 , 12 ( 4 ): 405 - 422 . DOI: 10.1177/1548512915592517 http://doi.org/10.1177/1548512915592517 http://journals.sagepub.com/doi/10.1177/1548512915592517 http://journals.sagepub.com/doi/10.1177/1548512915592517 Command and control (C2) networks are critical components of modern military systems, enabling information sharing and communications between systems. These systems operate in complex environments characterized by uncertain and evolving threats, creating a need for agile C2 networks. This paper presents a Cyber Complex Adaptive Systems approach for assessing the agility of adaptive C2 networks. Agent-based modeling is used to simulate the performance of a C2 network connecting unmanned aerial vehicles for a collaborative surveillance mission. Due to the importance of information sharing in C2, information entropy-based awareness is used to quantitatively evaluate C2 performance. Complex network methods are used to define initial network topologies and threats. Network adaptation through random rewiring is shown to recover lost C2 capabilities following network attacks, and in some cases improve performance relative to initial topologies. Inverse average path length and largest connected component fraction are shown to be important factors for maintaining C2 awareness, with inverse average path length being the better indicator of awareness.

TIAN Y P , LIU H , HUANG J . Aircraft performance analysis in conceptual design phase based on system-of-systems simulations [J ] . MATEC Web of Conferences , 2016 , 52 : 01001 . DOI: 10.1051/matecconf/20165201001 http://doi.org/10.1051/matecconf/20165201001 http://www.matec-conferences.org/10.1051/matecconf/20165201001 http://www.matec-conferences.org/10.1051/matecconf/20165201001

刘文金 , 裴扬 , 葛玉雪 , 等 . 基于ABMS的对地攻击型无人机体系贡献率评估 [J ] . 航空学报 , 2022 , 43 ( 9 ): 225972 . DOI: 10.7527/S1000-6893.2021.25972 http://doi.org/10.7527/S1000-6893.2021.25972 针对传统作战效能评估方法主观性较强且对体系作战需求的满足度较差的问题，提出基于Agent建模与仿真(ABMS)的体系贡献率评估方法并应用于对地攻击型无人机的评估。首先,建立基于ABMS的体系贡献率评估框架；其次,建立包含行为层、功能层和参数层的分层模块化Agent模型；然后，从作战效果、效率和代价3个方面提出体系的效能评估指标；最后，以对地攻击型无人机与防空系统的攻防对抗为实例进行仿真，分析具有不同隐身能力和巡航速度的机型以及同类机型不同数量对体系贡献率的影响。分析结果表明，高隐身和高速机型的体系贡献率通常较高，但隐身能力和巡航速度对体系贡献率的影响模式存在差异性；无人机数量增加会提高体系贡献率，但存在饱和值。

LIU W J , PEI Y , GE Y X , et al . System-of-systems contribution evaluation method of ground-attack UCAV based on ABMS [J ] . Acta Aeronautica et Astronautica Sinica , 2022 , 43 ( 9 ): 225972 . (in Chinese)

MASSEI M , TREMORI A . Simulation of an urban environment by using intelligent agents within asymmetric scenarios for assessing alternative command and control network-centric maturity models [J ] . Journal of Defense Modeling and Simulation , 2014 , 11 ( 2 ): 137 - 153 . DOI: 10.1177/1548512912466319 http://doi.org/10.1177/1548512912466319 http://journals.sagepub.com/doi/10.1177/1548512912466319 http://journals.sagepub.com/doi/10.1177/1548512912466319 The research proposes the development of a simulation framework for assessing the effectiveness and efficiency of different alternative command, control, communications and computers (C4) solutions in an urban environment affected by asymmetric warfare. The authors present their approach in developing intelligent agents computer-generated forces (IA-CGF) in a non-conventional framework related to the project named CGF C4 IT. In the current military context, characterized by new asymmetric threats (i.e. terrorism, biological attacks) and affected by new technologies solutions, it is critical to measure the effectiveness of different command and control (C2) maturity models involving local and coalition forces, police and other resources in an overseas urban framework. As a matter of fact, this is one of the main goals of the CGF C4 IT project which is devoted to investigating alternative C2 models for guaranteeing agility in complex scenarios. The CGF C4 IT federation is a high level architecture simulator, designed by the authors, and currently devoted to supporting Italian Army simulation capabilities. This represents an innovative and effective solution for investigating, by experimental analysis, the C2 agility concepts within a complex framework with special attention to human behavior models.

MOUR A , KENLEY C R , DAVENDRALINGAM N , et al . Agent-based modeling for systems-of-systems [C ] //Proceedings of the 2013 INCOSE International Symposium. Philadelphia:INCOSE , 2013 : 973 - 987 .

张睿文 , 宋笔锋 , 裴扬 , 等 . 基于ABMS的飞机拦截作战效能评估方法 [J ] . 系统工程与电子技术 , 2018 , 40 ( 2 ): 322 - 329 .

ZHANG R W , SONG B F , PEI Y , et al . Evaluation method for operational effectiveness of aircraft interception based on ABMS [J ] . Systems Engineering and Electronics , 2018 , 40 ( 2 ): 322 - 329 . (in Chinese)

PENG B , LIU S , XU L , et al . Combat process simulation and attrition forecasting based on system dynamics and multi-agent modeling [J ] . Expert Systems with Applications , 2022 , 187 : 115976 . DOI: 10.1016/j.eswa.2021.115976 http://doi.org/10.1016/j.eswa.2021.115976 https://linkinghub.elsevier.com/retrieve/pii/S0957417421013269 https://linkinghub.elsevier.com/retrieve/pii/S0957417421013269

SCHUMANN B , FERRARO M , SURENDRA A , et al . Better design decisions through operational modeling during the early design phases [J ] . Journal of Aerospace Information Systems , 2014 , 11 ( 4 ): 195 - 210 . DOI: 10.2514/1.I010149 http://doi.org/10.2514/1.I010149 https://arc.aiaa.org/doi/10.2514/1.I010149 https://arc.aiaa.org/doi/10.2514/1.I010149

ZHANG R W , SONG B F , PEI Y , et al . Improved method for subsystems performance trade-off in system-of-systems oriented design of UAV swarms [J ] . Journal of Systems Engineering and Electronics , 2019 , 30 ( 4 ): 720 - 737 . DOI: 10.21629/JSEE.2019.04.10 http://doi.org/10.21629/JSEE.2019.04.10 For the rapidly developing unmanned aerial vehicle (UAV) swarm, the system-of-systems (SoS) oriented design is a prospective conceptual design methodology due to the competence for complex mission requirements and subsystems interactions. In the SoS oriented design, the subsystems performance trade-off is the basis of design decisions. In the trade-off for surveillance missions, most previous works do not consider track reporting and mainly focus on the design of platforms. An improved method for the subsystems performance trade-off in the SoS oriented UAV swarm design is proposed. Within an improved design framework with subsystems disaggregation, this method is characterized by treating platforms, sensors, and communications as equally important subsystems, integrating operational strategies into the trade-off, and enabling the trade-off for track reporting. Those advantages are achieved by a behavior-based modular model structure for agent-based operational modeling and simulation. In addition, a method of analyzing the bounds of the communication range is also presented. Simulation experiments are conducted by using precision-based simulation replication rules and surrogate modeling methods. The results demonstrate the effectiveness of the proposed method, and show that the configuration of area partitioning changes the trade space of subsystems performances, indicating the necessity of integrating operational strategies into the conceptual design.

罗承昆 , 陈云翔 , 项华春 , 等 . 装备体系贡献率评估方法研究综述 [J ] . 系统工程与电子技术 , 2019 , 41 ( 8 ): 1789 - 1794 . DOI: 10.3969/j.issn.1001-506X.2019.08.16 http://doi.org/10.3969/j.issn.1001-506X.2019.08.16 装备体系贡献率评估对装备立项论证和装备体系建设具有非常重要的意义。系统分析了装备体系贡献率的概念内涵,重点从装备体系结构贡献率评估、装备体系能力贡献率评估、装备体系效能贡献率评估等3个方面进行了归纳总结,并从评估背景与维度的统一、评估方法与模型的构建、评估结果的应用等3个方面指出了现有理论方法存在的问题及发展趋势,为装备体系贡献率评估与应用研究提供参考借鉴。

LUO C K , CHEN Y X , XIANG H C , et al . Review of the evaluation methods of equipment’s contribution rate to system-of-systems [J ] . Systems Engineering and Electronics , 2019 , 41 ( 8 ): 1789 - 1794 . (in Chinese)

杨克巍 , 杨志伟 , 谭跃进 , 等 . 面向体系贡献率的装备体系评估方法研究综述 [J ] . 系统工程与电子技术 , 2019 , 41 ( 2 ): 311 - 321 .

YANG K W , YANG Z W , TAN Y J , et al . Review of the evaluation methods of equipment system of systems facing the contribution rate [J ] . Systems Engineering and Electronics , 2019 , 41 ( 2 ): 311 - 321 . (in Chinese) DOI: 10.3969/j.issn.1001-506X.2019.02.13 http://doi.org/10.3969/j.issn.1001-506X.2019.02.13 From the perspective of the evaluation on the contribution rate of weapon system of systems, this article summarizes the current research status and the technical difficulties in this research field. More specifically, the methods based on the combat loop, complex network, evidence reasoning, gray target theory, Bayes network, the structural equation model, exploratory analysis etc. are used to evaluate the contribution rate of weapon equipment system of systems. Furthermore, their advantages and disadvantages are compared and analyzed. Base on the comparisons, the method based on operation loops and complex networks which takes into consideration the relations between different weapons is able to assess the contribution of the weapon equipment in multiple dimensions. Hence, this method can provide more scientific and reasonable results to decision makers.

李际超 , 杨克巍 , 张小可 , 等 . 基于武器装备体系作战网络模型的装备贡献度评估 [J ] . 复杂系统与复杂性科学 , 2016 , 13 ( 3 ): 1 - 7 .

LI J C , YANG K W , ZHANG X K , et al . Equipment contribution degree evaluation method based on combat network of weapon system-of-systems [J ] . Complex Systems and Complexity Science , 2016 , 13 ( 3 ): 1 - 7 . (in Chinese)

罗小明 , 杨娟 , 何榕 . 基于任务-能力-结构-演化的武器装备体系贡献度评估与示例分析 [J ] . 装备学院学报 , 2016 , 27 ( 3 ): 7 - 13 .

LUO X M , YANG J , HE R . Research and demonstration on contribution evaluation of weapon equipment system based on task-capability-structare-evolution [J ] . Journal of Equipment Academy , 2016 , 27 ( 3 ): 7 - 13 . (in Chinese)

许秉军 , 李孟军 , 李兴兵 , 等 . 装甲装备体系对抗仿真评估系统研究 [C ] // 中国自动化学会系统仿真专业委员会, 中国系统仿真学会仿真应用专业委员会 2007系统仿真技术及其应用学术会议论文集 . 合肥 : 中国科学技术大学出版社 , 2007 .

XU B J , LI M J , LI X B , et al . Research on the armored equipment system-of-systems warfare simulation & effectiveness evaluation system [C ] // Proceedings of the 2007 Academic Conference on System Simulation Technology and Its Applications . Hefei : University of Science and Technology of China , 2007 . (in Chinese)

俞锦涛 , 肖兵 , 崔玉竹 , 等 . 基于时序网络仿真和贡献率的预警作战体系任务支持能力评估 [J/OL ] . 兵工学报 : 1 - 14 [ 2023-09-15 ] . http://kns.cnki.net/kcms/detail/11.2176.tj.20230207.1410.004.html http://kns.cnki.net/kcms/detail/11.2176.tj.20230207.1410.004.html http://kns.cnki.net/kcms/detail/11.2176.tj.20230207.1410.004.html.

YU J T , XIAO B , CUI Y Z , et al . Mission support capability assessment of early warning combat system-of-system based on temporal network simulation and contribution rate [J /OL ] . Acta Armamentarii : 1 - 14 [ 2023-09-15 ] . http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html. (in Chinese)

李峻森 , 方依宁 , 张云安 , 等 . 面向任务的装备保障体系多Agent建模与评估方法 [J ] . 系统工程与电子技术 , 2023 , 45 ( 1 ): 279 - 290 . DOI: 10.12305/j.issn.1001-506X.2023.01.33 http://doi.org/10.12305/j.issn.1001-506X.2023.01.33 随着战争形态向着体系化、智能化转变, 装备保障体系有了新挑战。同时, 动态变化的战场环境要求装备体系要适应战场态势, 动态支撑作战任务。目前, 装备保障体系建模研究存在与作战任务联系不紧密、与装备体系不匹配, 不能充分体现装备保障体系自主性等问题。首先, 基于多Agent方法, 从结构和流程两个方面对装备保障体系的任务层、基地层、装备层建模, 重点考虑保障任务中时间和空间约束问题; 其次, 提出面向任务的装备保障体系评价指标, 构建指标模型; 最后, 通过对典型作战任务对应保障活动进行仿真, 验证模型的合理性和有效性, 并完成装备保障体系的效能评估。本研究可为装备保障体系结构优化、流程设计等工作提供参考。

LI J S , FANG Y N , ZHANG Y A , et al . Multi-agent modeling and evaluation method for mission-oriented equipment support SoS [J ] . Systems Engineering and Electronics , 2023 , 45 ( 1 ): 279 - 290 . (in Chinese) DOI: 10.12305/j.issn.1001-506X.2023.01.33 http://doi.org/10.12305/j.issn.1001-506X.2023.01.33 With the development of the war form towards systematization and intelligence, new challenges are raised to the equipment support system of systems (SoS). At the same time, the dynamic variation of battle field environments requires the equipment support SoS to adapt to the battlefield situation and dynamically support the combat missions. Existed researches on the equipment support SoS neither relate to combat tasks closely, nor match the equipment system. Meanwhile, the autonomy of the equipment support SoS has not been well explained. Firstly, based on the multi-agent method, the equipment support SoS are modeled according to the task layer, base layer and equipment layer, and the time and space constraints in the support tasks are concerned. Secondly, the evaluation index of task-oriented equipment support system is proposed and the index model is constructed. Finally, the rationality and feasibility of the model are verified by simulating different support activities for different combat tasks, then the effectiveness evaluation of equipment support system is completed. This research may have advantages on the optimization of the structure and flow design of equipment support SoS in the future.

SHI L K , PEI Y , YUN Q J , et al . Agent-based effectiveness evaluation method and impact analysis of airborne laser weapon system in cooperation combat [J ] . Chinese Journal of Aeronautics , 2023 , 36 ( 4 ): 442 - 454 .

YUN Q J , SONG B F , PEI Y . Modeling the impact of high energy laser weapon on the mission effectiveness of unmanned combat aerial vehicles [J ] . IEEE Access , 2020 , 8 : 32246 - 32257 . DOI: 10.1109/Access.6287639 http://doi.org/10.1109/Access.6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

庞维建 , 李辉 , 黄谦 , 等 . 集群无人机要地攻防作战Multi-Agent建模仿真分析 [J ] . 信息工程大学学报 , 2022 , 23 ( 5 ): 617 - 625 .

PANG W J , LI H , HUANG Q , et al . Multi-agent based modeling and simulation of swarm UAV attack and defense operation for vital area [J ] . Journal of Information Engineering University , 2022 , 23 ( 5 ): 617 - 625 . (in Chinese)

俞锦涛 , 肖兵 , 崔玉竹 . 基于节点重要性和改进效能环的防空反导预警体系能力评估 [J/OL ] . 兵工学报 : 1 - 10 [ 2023-09-15 ] . http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html.

YU J T , XIAO B , CUI Y Z . Capability evaluation of air defense and anti-missile early warning system-of-system based on node importance and improved effectiveness loop [J/OL ] . Acta Armamentarii : 1 - 10 [ 2023-09-15 ] . http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html http://kns.cnki.net/kcms/detail/11.2176.TJ.20221129.1639.002.html. (in Chinese)

郭雷平 , 段文博 , 刘宇 , 等 . 基于OODA环的合成部队光电装备作战效能评估 [J ] . 兵工学报 , 2022 , 43 ( 增刊1 ): 177 - 182 .

GUO L P , DUAN W B , LIU Y , et al . Operational effectiveness evaluation of optoelectronic equipment for combined arms based on OODA loop [J ] . Acta Armamentarii , 2022 , 43 ( S1 ): 177 - 182 . (in Chinese) DOI: 10.12382/bgxb.2022.A009 http://doi.org/10.12382/bgxb.2022.A009 The operational effectiveness of optoelectronic equipment for combined arms is evaluated based on observe-orient-decide-act (OODA) loop. The role of optoelectronic equipment based on OODA loop is analyzed，and an operational effectiveness evaluation model of optoelectronic equipment is established for the whole process of reconnaissance and attack. The index aggregation method is used to evaluate the operational effectiveness of the main optoelectronic equipment. The evaluated results show that the performance and quantity of optoelectronic equipment of observation unit have a significant impact on the combat capability of the system. When the overall combat capacity of strike unit is at a high level，the improvement of the overall combat capability by simply improving the performance of the observation unit is limited.The evaluated results of the proposed model are basically consistent with the actual situation.The results show that the combat capability of optoelectronic equipment can be objectively evaluated by using the evaluation model based on OODA loop to evaluate the combat effectiveness of optoelectronic equipment in the system-of-systems confrontation.

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管清波 , 于小红 . 新型武器装备体系贡献度评估问题探析 [J ] . 装备学院学报 , 2015 , 26 ( 3 ): 1 - 5 .

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WANG B H . Optical design and stray light analysis of active laser-guided seeker [D ] . Changchun : Changchun Institute of Optics, Fine Mechanics and Physics , 2012 . (in Chinese)

齐小刚 , 李博 , 范英盛 , 等 . 多约束下多无人机的任务规划研究综述 [J ] . 智能系统学报 , 2020 , 15 ( 2 ): 204 - 217 .

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鲁飞 , 鲁照权 , 牛晨 , 等 . 基于改进蚁群算法的三维路径规划研究 [J ] . 传感器与微系统 , 2022 , 41 ( 1 ): 45 - 49 .

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于飞 , 马慧 , 陈斐楠 , 等 . 三维海底栅格地形在潜器路径规划中的应用 [J ] . 计算机工程与应用 , 2016 , 52 ( 5 ): 241 - 245 . 针对海底三维环境空间中的水下潜器路径规划问题，提出了一种采用蚁群算法在海底三维栅格空间中的潜器路径规划方法。对从海图中提取的水深数据建立三角网，经过随机中点位移插值后利用三角网内插生成规格网格数据，进而提出了海底地形栅格化处理方法，建立海底三维栅格化模型。对蚁群算法（ACO）进行了改进，定义了粒子的可视域。利用改进的蚁群算法在海底栅格空间中迭代求取最优路径。实验仿真得到了一条安全、简洁的路径，验证了该方法的有效性和可行性。

YU F , MA H , CHEN F N , et al . Application of 3D grid seabed terrain in submersible path planning [J ] . Computer Engineering and Applications , 2016 , 52 ( 5 ): 241 - 245 . (in Chinese) To the submersible path planning problem in complex undersea environment, the submersible path planning method is put forward, which is based on an?ant colony algorithm?in the?seabed?3D grid?space. The bathymetric data which is extracted from the chart?is built into the?triangulation, after?the data is?random midpoint?displacement interpolation, the data is converted into?regular grid?data using?triangulation interpolation method, then it puts forward a?seabed terrain?grid?processing method and establishes the?seabed?3D?grid model. The ant colony?algorithm is improved and the?visual field of?particles is defined. It uses improved ant colony algorithm?iteration?compute to get an optimal?path in the?seabed grid?space. The experimental?simulation gets?a safe and concise path and it verifies the effectiveness and feasibility of the method.