diff --git a/threat.csv b/threat.csv
new file mode 100644
index 0000000..22cccfb
--- /dev/null
+++ b/threat.csv
@@ -0,0 +1,12 @@
+敌机速度,敌机距离,威胁
+0.00,0.00,0.75,0.75,0.75
+10.00,10.00,0.68,0.68,0.69
+50.00,10.00,0.70,0.70,0.69
+10.00,50.00,0.50,0.50,0.50
+50.00,50.00,0.50,0.50,0.50
+10.00,70.00,0.32,0.38,0.39
+50.00,70.00,0.40,0.40,0.40
+70.00,10.00,0.82,0.74,0.70
+70.00,50.00,0.70,0.60,0.61
+70.00,70.00,0.56,0.49,0.50
+100.00,100.00,0.50,0.50,0.50
diff --git a/威胁感知.py b/威胁感知.py
new file mode 100644
index 0000000..9a41aa5
--- /dev/null
+++ b/威胁感知.py
@@ -0,0 +1,182 @@
+from enum import Enum
+from functools import reduce
+from scipy import integrate
+import itertools
+
+DELIMETER = ","
+
+
+class FuzzDistance(Enum):
+    Short = 0
+    Medium = 1
+    Long = 2
+
+    def membership_grade(self, distance: float) -> float:
+        k = 1 / 50
+        fns = {
+            FuzzDistance.Short: lambda t: -k * (t - 50),
+            FuzzDistance.Medium: lambda t: min(k * (t - 0), -k * (t - 100)),
+            FuzzDistance.Long: lambda t: min(k * (t - 50), 1),
+        }
+        return max(0, fns[self](distance))
+
+
+class FuzzVelocity(Enum):
+    Low = 0
+    Medium = 1
+    High = 2
+
+    def membership_grade(self, v: float) -> float:
+        k = 1 / 50
+        fns = {
+            FuzzVelocity.Low: lambda t: -k * (t - 50),
+            FuzzVelocity.Medium: lambda t: min(k * (t - 0), -k * (t - 100)),
+            FuzzVelocity.High: lambda t: k * (t - 50),
+        }
+        return max(0, fns[self](v))
+
+
+class FuzzThreat(Enum):
+    VL = 0
+    L = 1
+    M = 2
+    H = 3
+    VH = 4
+
+    def reverse_membership_grade(self) -> float:
+        v = [0, 0.25, 0.5, 0.75, 1]
+        return v[self.value]
+
+    def membership_grade(self, threat: float) -> float:
+        k = 1 / 0.25
+        fns = {
+            FuzzThreat.VL: lambda t: -k * (t - 0.25),
+            FuzzThreat.L: lambda t: min(k * (t - 0), -k * (t - 0.5)),
+            FuzzThreat.M: lambda t: min(k * (t - 0.25), -k * (t - 0.75)),
+            FuzzThreat.H: lambda t: min(k * (t - 0.5), -k * (t - 1)),
+            FuzzThreat.VH: lambda t: k * (t - 0.75),
+        }
+        return max(0, fns[self](threat))
+
+
+class Rule:
+    def __init__(
+        self, dirtness: FuzzVelocity, type_of_dirt: FuzzDistance, wash_time: FuzzThreat
+    ) -> None:
+        self.dirtness = dirtness
+        self.type_of_dirt = type_of_dirt
+        self.wash_time = wash_time
+
+    def rule_support(self, dirtness: float, type_of_dirt: float) -> float:
+        # 计算隶属度
+        dirtness_grade = self.dirtness.membership_grade(dirtness)
+        type_of_dirt_grade = self.type_of_dirt.membership_grade(type_of_dirt)
+        # 计算t范数 min
+        return min(dirtness_grade, type_of_dirt_grade)
+
+
+class InferenceEngine:
+    def __init__(self, rules: list[Rule]) -> None:
+        self.rules = rules
+
+    def output(
+        self, dirtness: float, type_of_dirt: float
+    ) -> list[tuple[float, FuzzThreat]]:
+        # 使用规则
+        ans = map(
+            lambda rule: (rule.rule_support(dirtness, type_of_dirt), rule.wash_time),
+            self.rules,
+        )
+        ans = list(ans)
+        return ans
+
+
+# 聚合模糊输出，使用离散的质心计算方式，数学积
+def aggregate_discret_AP(pairs: list[tuple[float, FuzzThreat]]) -> float:
+    return sum(
+        map(lambda pair: pair[0] * pair[1].reverse_membership_grade(), pairs)
+    ) / sum(map(lambda pair: pair[0], pairs))
+
+
+# 使用连续的质心计算方式，数学积和代数和
+def aggregate_continue_AP(pairs: list[tuple[float, FuzzThreat]]) -> float:
+    def f(time: float) -> float:
+        return S_AS(map(lambda pair: pair[0] * pair[1].membership_grade(time), pairs))
+
+    base = integrate.quad(f, 0, 1)[0]
+    return integrate.quad(lambda v: v * f(v), 0, 1)[0] / base
+
+
+def S_AS(iter) -> float:
+    "代数和，输入数组"
+    ans = 0
+    iter = tuple(iter)
+    for i in range(len(iter)):
+        n = i + 1
+        if n & 1:
+            flag = 1
+        else:
+            flag = -1
+        # 选择n个数，相乘再相加
+        for collection in itertools.combinations(iter, n):
+            ans += flag * reduce(lambda x, y: x * y, collection)
+    return ans
+
+
+# 标准交
+def aggregate_continue_SI(pairs: list[tuple[float, FuzzThreat]]) -> float:
+    """lambda: fi=min(alpha, mu), f=max(fi)"""
+
+    def f(time: float) -> float:
+        return max(
+            map(lambda pair: min(pair[0], pair[1].membership_grade(time)), pairs)
+        )
+
+    return integrate.quad(lambda v: v * f(v), 0, 1)[0] / integrate.quad(f, 0, 1)[0]
+
+
+rules = [
+    Rule(FuzzVelocity.Low, FuzzDistance.Short, FuzzThreat.H),
+    Rule(FuzzVelocity.Medium, FuzzDistance.Short, FuzzThreat.H),
+    Rule(FuzzVelocity.High, FuzzDistance.Short, FuzzThreat.VH),
+    Rule(FuzzVelocity.Low, FuzzDistance.Medium, FuzzThreat.M),
+    Rule(FuzzVelocity.Medium, FuzzDistance.Medium, FuzzThreat.M),
+    Rule(FuzzVelocity.High, FuzzDistance.Medium, FuzzThreat.VH),
+    Rule(FuzzVelocity.Low, FuzzDistance.Long, FuzzThreat.VL),
+    Rule(FuzzVelocity.Medium, FuzzDistance.Long, FuzzThreat.L),
+    Rule(FuzzVelocity.High, FuzzDistance.Long, FuzzThreat.M),
+]
+
+inputs = [
+    [0, 0],
+    [10, 10],
+    [50, 10],
+    [10, 50],
+    [50, 50],
+    [10, 70],
+    [50, 70],
+    [70, 10],
+    [70, 50],
+    [70, 70],
+    [100, 100],
+]
+
+
+def main(inputs, rules):
+    print(DELIMETER.join(["敌机速度", "敌机距离", "威胁"]))
+    engine = InferenceEngine(rules)
+    for input in inputs:
+        # print("脏的程度", input[0], "脏的类型", input[1])
+        outputs = engine.output(input[0], input[1])
+        output = aggregate_discret_AP(outputs)
+        output1 = aggregate_continue_AP(outputs)
+        output2 = aggregate_continue_SI(outputs)
+        print(
+            DELIMETER.join(["{:.2f}"] * 5).format(
+                input[0], input[1], output, output1, output2
+            )
+        )
+
+
+if __name__ == "__main__":
+    main(inputs, rules)