Patent ID: 11908032
Assignee: BEIHANG UNIVERSITY
Field: Measurement (Instruments)
Classification: CPC G  Y | IPC G

Claim 3:
4. The method for planning collaborative search-and-rescue missions using a plurality of search-and-rescue equipment in medium to far sea areas of claim 3, wherein step 3 comprising the steps of:
step 3.1: defining a search-and-rescue force database according to the types and attribute parameters of the plurality of search-and-rescue equipment, wherein a data information of the search-and-rescue force database includes serial numbers, code numbers, types, performance parameters, base positions, and the set of the plurality of search-and-rescue equipment mission modes;
step 3.2: defining a dispatch matrix A of the plurality of search-and-rescue equipment, and representing a dispatch condition of the plurality of search-and-rescue equipment in the search-and-rescue force database:

A=[a1, a2, . . . , an]T;

wherein n represents total number of dispatched search-and-rescue equipment, wherein T is a transposition operator, wherein ai represents serial number of ith search-and-rescue equipment, and i=1, 2, . . . n;
step 33: defining a dispatch sequence matrix AT of the plurality of search-and-rescue equipment, and representing a dispatch time of the plurality of search-and-rescue equipment:

AT=[t1, t2, . . . ,tn]T;

wherein n represents the total number of the dispatched search-and-rescue equipment, wherein T is the transposition operator, wherein ti represents the dispatch time of the ith search-and-rescue equipment, and i=1, 2, . . . n;
step 34: defining a dispatch waypoint matrix AW of the plurality of search-and-rescue equipment:

AW=[AW1, AW2, . . . , AWn]T;

wherein n represents the total number of the dispatched search-and-rescue equipment, wherein T is the transposition operator, AWi represents a restriction to waypoints that the ith search-and-rescue equipment needs to be subjected to, and i=1, 2, . . . n, wherein AWi represents a set of waypoints, which is expressed as:

AWi=[wi1, wi2, . . . , wik], (i=1,2, . . . , n);

wherein k represents number of waypoints in the set, wherein with wij represents the longitude and latitude coordinates of a waypoint, wherein i=1, 2, . . . n and j=1, 2, . . . k;
step 35: describing a mission allocation condition of a disposal solution, and defining a mission allocation matrix AM:

AM=[AM1, AM2, . . . , AMn]T;

wherein n represents the total number of the dispatched search-and-rescue equipment,
wherein T is the transposition operator, wherein AMi describes a situation that the ith search-and-rescue equipment executes a collaborative search-and-rescue mission, and
i=1, 2, . . . n, which is expressed as:

AMi=[mi1, mi2, . . . , mil], (i=1,2, . . . , n);

wherein l represents number of search-and-rescue modes of the ith search-and-rescue equipment, wherein the value of mil is 0 or 1, wherein mu represents the mission allocation condition of the ith search-and-rescue equipment, wherein 0 represents that mission mode is not executed, wherein 1 represents that the mission mode is executed;
step 36: obtaining the overall matrix RP for the search-and-rescue mission planning:, RP
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