# US 11,908,032 B2 · Method for planning collaborative search-and-rescue missions using a plurality of search-and-rescue equipment in medium to far sea areas

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- Number: US 11,908,032 B2
- Document ID: US11908032B2
- Status: Granted
- Kind: B2
- Application number: 18/206,919
- Filed: 2023-06-07
- Published: 2023-12-14
- Granted: 2024-02-20
- Earliest claimed: 2023-06-07
- Assignees: Beihang University
- Applicants: Beihang University
- Inventors: Hu Liu; Xin Li; Yongliang Tian; Siliang Liu
- Web page: https://patentgrep.com/patent/US11908032B2

## CPC

- G06Q 50/265: {Personal security, identity or safety}
- G01S 19/17: Emergency applications
- G01S 19/39: the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G06F 17/16: Matrix or vector computation {, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization (matrix transposition G06F7/78)}
- G06Q 10/103: {Workflow collaboration or project management}
- Y02A 90/10: Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- Y02A: TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE

## Abstract

A method for planning collaborative search-and-rescue missions using a plurality of search-and-rescue equipment in medium to far sea areas, includes: step 1: performing environmental modeling for maritime search-and-rescue missions; step 2: performing modeling for search-and-rescue modes using a plurality of search-and-rescue equipment; step 3: defining a maritime collaborative search-and-rescue mission planning model; based on the maritime collaborative search-and-rescue mission planning model, generating an overall matrix RP for the search-and-rescue mission planning using a plurality of search and rescue equipment; step 4: selecting target parameters, and defining a target function ƒ(RP) of the maritime collaborative search-and-rescue mission; based on an overall matrix RP of the maritime search-and-rescue mission environment model, the search-and-rescue mode model using a plurality of search-and-rescue equipment, and the overall matrix RP of the search-and-rescue mission planning using a plurality of search-and-rescue equipment, simulating and solving an objective function ƒ(RP).

## Claims

### Claim 1

A method for planning collaborative search-and-rescue missions using a plurality of search-and-rescue equipment in medium to far sea areas, comprising the steps of:
step 1: performing environmental modeling for maritime search-and-rescue missions, and obtaining a maritime search-and-rescue mission environment model;
step 2: performing modeling for search-and-rescue modes using the plurality of search-and-rescue equipment, and obtaining a search-and-rescue mode model;
step 3: defining a maritime collaborative search-and-rescue mission planning model; based on the collaborative search-and-rescue mission planning model, generating an overall matrix RP for a search-and-rescue mission planning using the plurality of search-and-rescue equipment;
step 4: selecting target parameters, and defining a target function ƒ(RP) of the collaborative search-and-rescue missions based on the target parameters; based on the maritime search-and-rescue mission environment model, the search-and-rescue mode model using the plurality of search-and-rescue equipment, and the overall matrix RP of the search-and-rescue mission planning using the plurality of search-and-rescue equipment, simulating and solving an objective the target function ƒ(RP),
wherein step 1 further comprises the steps of:
step 1.1: constructing a marine meteorological and hydrological information model;
step 1.2: constructing a battlefield situation information model;
step 1.3: constructing a position information of a target in danger, a time information, and an information model of the target in danger;
wherein step 1.2 further comprises the steps of:
step 1.21: obtaining a first situation information of a first party, wherein the first situation information of the first party includes forces of the first party and second parties supporting the first party near the target in danger during maritime search-and-rescue missions; performing a first structured description on the first situation information of the first party, wherein the first structured description includes name, support force, position information, support radius, support mode, support ability of second parties supporting the first party, the forces of the first party, and a behavior logic of the first party;
step 1.22: obtaining a second situation information of a third party threatening the first party, wherein the second situation information of the third party threatening the first party includes third party threats in the maritime search-and-rescue missions; performing a second structured description on the second situation information of the third party, wherein the second structured description includes threat name, location information, threat radius, threat level, and behavior logic of the third party; when performing the collaborative search-and-rescue missions, equipment of the first party should avoid entering the threat radius of the third party.

### Claim 2 (depends on 1)

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 1, wherein step 2 comprising the steps of:
step 2.1: constructing rules for collaborative search-and-rescue missions using the plurality of search-and-rescue equipment;
step 2.2: constructing a mission mode process model, wherein the mission mode process model includes a search mission mode, a salvage mission mode, a ship rescue mission mode, a fly-rope rescue mission mode, a seawater rescue mission mode, an air-drop rescue mission mode and a medical evacuation mission mode;
step 2.3: constructing a set of a plurality of search-and-rescue equipment mission modes by selecting corresponding mission modes in the mission mode process model for each search-and-rescue equipment according to the rules for collaborative search-and-rescue missions.

### Claim 3 (depends on 2)

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 2, wherein step 2.1 comprising the steps of:
first, defining a maritime search-and-rescue mission execution stage, including preparation, heading, search, salvage, rescue, medical evacuation and return;
subsequently, analyzing types, attribute parameters and base positions of the plurality of search-and-rescue equipment, wherein the plurality of search-and-rescue equipment includes rescue ships, helicopters, amphibious aircrafts and fixed-wing aircrafts; the attribute parameters include a cruising speed, a search speed, an available fuel quantity, a fuel consumption rate, and a maximum number of rescue personnel; the base positions refers to longitude and latitude coordinates of a bases where the search-and-rescue equipment is located;
finally, establishing a rule for the collaborative search-and-rescue missions, wherein the collaborative search-and-rescue missions includes a collaborative search, an assisted positioning and a collaborative rescue; when heading to a position of danger after preparation, each search-and-rescue equipment executes the collaborative search-and-rescue missions according to a sequence of search, salvage, rescue and medical evacuation.

### Claim 4 (depends on 3)

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
=
[
A
,
AT
,
AW
,
AM
]
=
[
a
1
t
1
AW
1
AM
1
a
2
t
2
AW
2
AM
2
⋮
⋮
⋮
⋮
a
n
t
n
AW
n
AM
n
]
∘

### Claim 5 (depends on 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 4, wherein, step 4 further comprising the steps of:
defining the target function ƒ(RP) by taking average time of rescuing persons in danger as a target parameter, wherein the target function of the collaborative search-and-rescue mission is:
min
:
f
⁡
(
RP
)
=
1
m
⁢
∑
s
=
1
m
⁢
r
s
;
wherein rs represents the duration of sth person in danger from falling into water to be successfully rescued, wherein m represents the number of persons in danger, and s=1, 2 . . . m; if the sth person in danger is not rescued successfully, the duration is calculated following the time of completing the collaborative search-and-rescue missions, and the time of completing the collaborative search-and-rescue missions is the time when each equipment completes all the collaborative search-and-rescue missions and returns.