(1) Once the reconnaissance UAV enters the radar detection range of a certain target group of the defensive side, the radar of the defensive side 10 target group will turn on the alert to search for the target and take corresponding countermeasures, including launching missiles to destroy the UAV, so the longer the reconnaissance UAV stays in the radar detection range of the defensive side, the greater the possibility of being destroyed by it. At present, it is necessary to work out the best route and UAV scheduling strategy for FY- 1 UAV (including the takeoff base, load, takeoff time, flight trajectory and reconnaissance target of each UAV) in order to complete the reconnaissance task of 10 target group (* * 68 targets) and ensure that the total time for reconnaissance UAV to stay in the effective detection range of defense radar is minimum.

(2) When FY-1UAV reconnaissance targets, the reconnaissance information must be transmitted back to the ground control center in real time through FY-2 UAV. In view of the limitation of 50km communication distance, it is necessary to arrange several FY-2 UAVs to take off to ensure that reconnaissance UAVs flying in the air can communicate with FY-2 UAVs at any time. FY-2 UAV can communicate with multiple reconnaissance UAVs within its effective communication range at the same time and forward information. How many flights must FY-2 communication relay UAV arrange at least to complete the reconnaissance mission of the problem (1)?

(3) All FY- 1 UAVs have completed reconnaissance missions and returned to the base, and they can be loaded with S-3 to provide target indication for guided bombs. Now it is required to complete the fire attack task on all 68 ground targets in 10 target group within 7 hours (from the first attack drone entering the detection range of defense radar to the last target being bombed). How to plan the mission to ensure that the total time for attacking drones to stay within the effective detection range of defense radar is the minimum? Please give the specific results of UAV mission planning (including the flight route of each UAV, the specific list of bombs carried by FY-3 UAV and the list of targets attacked).

(4) According to relevant information channels, there may be three long-range search radars around A02, A05 and A09, and the effective range of this radar to FY UAV is 200km. The working mode of these three radars is to start in turn, that is, the second radar is turned on after the first radar is attacked, and the third radar is turned on after the second radar is attacked. Once the long-range search radar is turned on, the attacking drone group can know the signal and lock the target, and then arrange the nearest drone to destroy it. Please reconsider question (3) based on the deployment of long-range search radar by the defense.

(5) Please analyze the algorithm complexity of solving the model; It also discusses how to effectively improve the efficiency of the algorithm and enhance the timeliness of task planning. Based on the mathematical model established by your team and the results of model calculation, what technical parameters will be improved to significantly improve the combat capability of UAV?