Distributed simulation test method for multiple unmanned systems

Abstract

The invention discloses a distributed simulation test method for multiple unmanned systems, and belongs to the field of unmanned systems. The method comprises the steps that a simulation engine server distributes k rendering tasks of the unmanned system to m simulation engine clients; the n access ends acquire simulation data of the corresponding unmanned system from the simulation engine server; the n access ends obtain simulation images of the corresponding unmanned system from the m simulation engine clients; the n access ends respectively calculate the control quantity of the corresponding unmanned system based on the simulation data and / or simulation images of the corresponding unmanned system, and send the control signaling of the corresponding unmanned system to the simulation engine server; and the simulation engine server side controls the simulation nodes corresponding to the k unmanned systems to execute corresponding control signaling, generates simulation data through the simulation engine server side, and generates simulation images through the m simulation engine client sides. According to the method, decoupling of simulation calculation and simulation rendering is realized, and the resource processing pressure of a simulation engine is shared.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned systems, relates to simulation testing technology of unmanned systems, and specifically relates to a distributed simulation testing method for multiple unmanned systems. Background Art

[0002] With the development of intelligent technology, unmanned systems (such as unmanned vehicles, drones, robots, etc.) have been applied to various fields. In order to ensure the safety, stability, and reliability of the operation of unmanned systems, it is necessary to fully test and verify the performance of unmanned systems.

[0003] Since the testing of unmanned systems in real scenarios has defects such as long testing cycle, high cost and low efficiency, simulation testing methods based on virtual scenarios have been proposed and continuously studied and applied. The relevant technology controls the behavior of the unmanned system in the simulation test through the access end; in addition, the relevant technology generates the operating environment of the simulation test, NPC, simulation nodes corresponding to the unmanned system, etc. through the simulation engine, and controls the simulation nodes to execute the control signaling of the access end in the operating environment. The simulation engine can be implemented as UE (Unreal Engine), Unity, etc. When performing the simulation test, the simulation engine performs simulation control, simulation rendering and simulation calculation, and feeds back the simulation data and simulation images to the access end, and then the access end calculates the control amount of the unmanned system.

[0004] The system framework in the relevant testing technology requires a large amount of simulation processing resources when performing simulation tests on large-scale unmanned systems, which brings huge processing overhead to the simulation engine and is not conducive to the smooth operation of the simulation test. Summary of the invention

[0005] Purpose of the invention: In order to overcome the problem of huge simulation engine processing overhead existing in related technologies, a distributed simulation testing method for multiple unmanned systems is provided. For the simulation testing of large-scale unmanned systems, the simulation engine is designed as a "server-client" architecture mode, in which the simulation engine server is responsible for simulation calculation, and the simulation engine client is responsible for simulation rendering. This realizes the decoupling of simulation calculation and simulation rendering, shares the resource processing pressure of the simulation engine, and improves the fluency and success of the simulation test.

[0006] Technical solution: To achieve the above-mentioned purpose, the present invention provides a distributed simulation test system for multiple unmanned systems, including n access terminals, a simulation engine server terminal and m simulation engine clients, wherein the access terminals, the simulation engine server terminal and the simulation engine clients establish communication connections with each other;

[0007] The access terminal is used to calculate the control amount of the unmanned system based on the simulation data and simulation image of the unmanned system;

[0008] The simulation engine server is used to assign rendering tasks to the simulation engine client; perform simulation control on the simulation nodes corresponding to the unmanned system to generate simulation data of the unmanned system;

[0009] The simulation engine client is used to render the observation picture of the unmanned system to obtain a simulation image of the unmanned system.

[0010] Further, the access end includes an access end communication module, a calculation module and an access end storage module;

[0011] The access end communication module is used to establish a communication connection with the simulation engine server, obtain the simulation data of the unmanned system from the simulation engine server, and send the control amount of the unmanned system to the simulation engine server; it is also used to establish a communication connection with the simulation engine client, and obtain the simulation image of the unmanned system from the simulation engine client;

[0012] The calculation module is used to calculate the control amount of the unmanned system based on the simulation data and simulation image of the unmanned system;

[0013] The access end storage module is used to store the simulation image and simulation data of the unmanned system; it is also used to store the IP address of the simulation engine server and the IP address of the simulation engine client;

[0014] The simulation engine server includes a server communication module, a node generation module, a node operation module, a node simulation module and a server storage module;

[0015] The server communication module is used to establish a communication connection with the access terminal, obtain the control amount of the unmanned system from the access terminal, and send the simulation data of the unmanned system to the access terminal; it is also used to establish a communication connection with the simulation engine client, assign the rendering task of the unmanned system to the simulation engine client, and realize data synchronization with the simulation engine client;

[0016] The node generation module is used to generate simulation nodes corresponding to the unmanned systems one by one;

[0017] The node operation module is used to generate the operation environment and NPC of the simulation test; it is also used to simulate the behavior of the unmanned system in combination with the control amount sent by the access terminal to generate simulation data of the unmanned system;

[0018] The node simulation module is used to realize the physical simulation of the unmanned system, such as the dynamics simulation of the unmanned vehicle, the flight control simulation of the unmanned aerial vehicle, etc.

[0019] The server storage module is used to store the identification of the unmanned system, the identification of the formation, the matching relationship between the identification of the formation and the identification of the unmanned system, the corresponding relationship between the identification of the unmanned system and the IP address of the simulation engine client, etc.;

[0020] The simulation engine client includes a client communication module, a rendering module and a client storage module;

[0021] The client communication module is used to establish a communication connection with the simulation engine server to achieve data synchronization with the simulation engine server; it is also used to establish a communication connection with the access terminal to send a simulation image of the unmanned system to the access terminal;

[0022] The rendering module is used to render the observation picture of the unmanned system to obtain a simulation image of the unmanned system;

[0023] The client storage module is used to store the IP address of the simulation engine server, the identifier of the unmanned system, etc.

[0024] The present invention also provides a distributed simulation test method for a multi-unmanned system, which is applied to a distributed simulation test system, wherein the distributed simulation test system includes n access terminals, a simulation engine server, and m simulation engine clients; the distributed simulation test method includes the following steps:

[0025] S1: The simulation engine server generates simulation nodes corresponding to k unmanned systems respectively, and distributes rendering tasks of the k unmanned systems to m simulation engine clients, where k is an integer greater than 1, and m is a positive integer less than or equal to k;

[0026] S2: n access terminals establish a communication connection with the simulation engine server, and obtain simulation data of the corresponding unmanned system from the simulation engine server, where n is a positive integer;

[0027] S3: n access terminals establish communication connections with m simulation engine clients, and obtain simulation images of corresponding unmanned systems from the m simulation engine clients;

[0028] S4: The n access terminals respectively calculate the control amount of the corresponding unmanned system based on the simulation data and / or simulation image of the corresponding unmanned system, and send the control signaling of the corresponding unmanned system to the simulation engine server;

[0029] S5: The simulation engine server controls the simulation nodes corresponding to the k unmanned systems to execute corresponding control signals, generates simulation data through the simulation engine server, and generates simulation images through the m simulation engine clients.

[0030] Furthermore, in step S1, the simulation engine server allocates rendering tasks in combination with the request of the simulation engine client, and the specific process includes the following steps:

[0031] A1: The simulation engine server generates k simulation nodes;

[0032] A2: m simulation engine clients send communication connection requests to the simulation engine server respectively; wherein the communication connection request includes: the IP address of the simulation engine client and the identifier of the unmanned system;

[0033] A3: The simulation engine server establishes exclusive communication channels with each of the m simulation engine clients;

[0034] A4: The simulation engine server allocates rendering tasks of the corresponding unmanned system to the m simulation engine clients according to the identifier of the unmanned system in the communication connection request.

[0035] Furthermore, in step S1, the simulation engine server allocates rendering tasks in combination with the performance of the simulation engine client, and the specific process includes the following steps:

[0036] B1: The simulation engine server generates k simulation nodes;

[0037] B2: m simulation engine clients send communication connection requests to the simulation engine server respectively; wherein the communication connection request includes: the IP address of the simulation engine client and the performance identifier of the simulation engine client;

[0038] B3: The simulation engine server establishes exclusive communication channels with each of the m simulation engine clients;

[0039] B4: The simulation engine server allocates rendering tasks of the corresponding unmanned system to m simulation engine clients according to the performance identifier of the simulation engine client in the communication connection request.

[0040] Furthermore, the simulation engine server allocates rendering tasks according to a rendering comparison table. The simulation engine server maintains the rendering comparison table, which includes a correspondence between an identifier of an unmanned system and an IP address of a simulation engine client. Whenever the simulation engine server allocates a rendering task of a corresponding unmanned system to a simulation engine client, the rendering comparison table is updated, a correspondence is established between the IP address of the simulation engine client and the identifier of the unmanned system, and the correspondence is written into the rendering comparison table.

[0041] Furthermore, the specific process of step S2 is as follows:

[0042] C1: Access point P i Send a communication connection request C1 to the simulation engine server i, i is a positive integer less than or equal to n;

[0043] C2: Simulation engine server and access terminal P i Establish exclusive communication channel CH1 i ;

[0044] C3: Access point P i Through dedicated communication channel CH1 i , send authentication information D to the simulation engine server i ;

[0045] C4: The simulation engine server is based on the identity authentication information D i Verify access point P i Data access rights;

[0046] C5: During the simulation test, the simulation engine server communicates with the server through the dedicated communication channel CH1. i , to the access end P i Send simulation data of corresponding unmanned system.

[0047] Furthermore, a formation information table is preset in the simulation engine server, and the formation information table includes: the identification of one or more formations participating in the simulation test, and the identification of all unmanned systems in each formation; the verification content of the data acquisition authority in step C4 includes: identity authentication information D i Whether the unmanned system formation's logo is occupied, identity verification information D i Whether the identification of one or more unmanned systems matches the identification of the unmanned system formation; wherein, if the first access terminal passes the verification of data acquisition authority, the identification of the formation where the unmanned system controlled by the first access terminal is located is occupied, and the simulation engine server updates the identification status of the formation.

[0048] Furthermore, the specific process of step S3 is as follows:

[0049] D1: Access point P i Send a communication connection request C2 to the target simulation engine client among the m simulation engine clients i ;

[0050] D2: Target simulation engine client and access terminal P i Establish exclusive communication channel CH2 i ;

[0051] D3: During the simulation test, the target simulation engine client communicates with the target simulation engine through the dedicated communication channel CH2. i , to the access end P i Send simulated images of corresponding unmanned systems.

[0052] Furthermore, the communication connection between the access end and the simulation engine client in step S3 is a one-to-one or one-to-many connection; one access end controls the behavior of one or more unmanned systems, and the behavior of an unmanned system can only be controlled by one access end; when one access end controls the behavior of multiple unmanned systems, these unmanned systems belong to the same formation in the simulation test, and the behavior of multiple unmanned systems in the same formation can only be controlled by the same access end.

[0053] Furthermore, in step S3, the simulation engine client obtains the simulation image of the unmanned system by executing the rendering task, and the timing when the simulation engine client starts to execute the rendering task includes any one of the following: the simulation engine client immediately starts to execute the rendering task after establishing data synchronization with the simulation engine server; the simulation engine client automatically starts to execute the rendering task after establishing a communication connection with the access terminal; the simulation engine client starts to execute the rendering task based on the notification of the simulation engine server after establishing a communication connection with the access terminal;

[0054] The timing when the simulation engine client ends the rendering task includes any of the following: the simulation engine client ends the rendering task when the simulation test ends or it is offline or stops data synchronization with the simulation engine server; the simulation engine client ends the rendering task based on the notification of the simulation engine server; the simulation engine client receives the rendering end condition sent by the simulation engine server in advance and automatically ends the rendering task when the rendering end condition is met.

[0055] Furthermore, the sending frequency of the simulated image in step D3 is configured according to the purpose of the access end to obtain the simulated image. The configuration method is that the access end directly sends the sending frequency of the simulated image to the simulation engine server, and then the simulation engine server notifies the sending frequency to the simulation engine client, or the access end sends the purpose of obtaining the simulated image to the simulation engine server, and the simulation engine server determines the sending frequency of the simulated image based on a preset frequency comparison relationship and sends it to the simulation engine client.

[0056] Beneficial effects: Compared with the related art, the present invention has the following innovations and advantages:

[0057] 1. Innovation 1: For simulation testing of large-scale unmanned systems, distributed simulation is implemented based on the "server-client" architecture to share the resource processing pressure of the simulation engine.

[0058] The effect is that the control, rendering and calculation of the simulation test in the related art are all performed by a simulation engine device, and the device processing overhead is large. In the present invention, the simulation engine is designed as a "server-client" architecture mode, the simulation engine server is responsible for simulation control and simulation calculation, and the simulation engine client is responsible for simulation rendering, which realizes the decoupling of simulation calculation and simulation rendering. The simulation engine server and the simulation engine client are deployed on different devices, and the resource processing pressure of the simulation engine is shared through distributed simulation. In addition, the present invention can start multiple simulation engine clients to perform simulation rendering, and further reduce the processing overhead of a single device through distributed rendering, thereby improving the operation efficiency of the simulation test as a whole. In addition, in the present invention, only the simulation image is transmitted between the simulation engine client and the access terminal without involving the transmission of configuration information, etc. The configuration information, etc. is processed and forwarded by the simulation engine server, which realizes the reuse of the existing "server-client" architecture mode, reduces the development difficulty, and improves the development efficiency and applicability of distributed simulation based on the "server-client" architecture.

[0059] 2. Innovation 2: It provides multiple ways to flexibly turn on and off the simulation rendering of the simulation engine client.

[0060] The effect brought is: in the related art, the simulation engine needs to perform rendering in the whole process of the simulation test, and the processing resources are consumed relatively large. In the present invention, based on the different acquisition requirements of the access terminal for the simulation image, the simulation rendering function of the simulation engine client can be flexibly turned on and off, and the processing resources of the simulation engine client can be avoided by matching the execution timing of the simulation rendering with the image acquisition requirements of the access terminal. In addition, the present invention provides a variety of ways to realize the flexible opening and closing of the simulation rendering, such as automatically turning on the simulation rendering based on the establishment of a communication connection, triggering the opening and closing of the simulation rendering through the notification of the simulation engine server, and automatically turning off the simulation rendering based on the monitoring of the end rendering conditions, etc., which effectively realizes the opening and closing of the simulation rendering at any time during the simulation test.

[0061] 3. Innovation 3: The simulation image is directly transmitted between the simulation engine client and the access end, and the sending frequency of the simulation image can be flexibly configured.

[0062] The effect brought is: the present invention establishes a communication connection between the access terminal and the simulation engine client, directly transmits the simulation image of the unmanned system without forwarding through the simulation engine server, avoids bringing additional processing overhead to the simulation engine server, and also improves the image transmission efficiency. In addition, based on the different use purposes of the simulation image by the access terminal, the sending frequency of the simulation image can be flexibly configured, such as configuring a higher sending frequency if the simulation image is used to calculate the control amount, and configuring a lower sending frequency if the simulation image is used to generate an image data set, which effectively reduces the processing overhead of the simulation engine client while ensuring that the personalized use needs of the user are met.

[0063] 4. Innovation 4: For simulation testing of large-scale unmanned systems, the data access authority of the access point is verified before transmitting simulation data and simulation images.

[0064] The effect is that in the simulation test of large-scale unmanned systems, multiple formations are divided, and one formation can only be controlled by one access terminal. In the test based on real scenes, the access terminal can only obtain the simulation data and simulation images of the unmanned system controlled by itself and its formation. Therefore, the present invention verifies the data acquisition authority of the access terminal before transmitting data to the access terminal. The access terminal can obtain the relevant data of the unmanned system controlled by it after passing the verification, thereby achieving a more realistic test effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of the architecture of the system of the present invention;

[0066] Figure 2 It is a framework diagram of the access terminal in the system of the present invention;

[0067] Figure 3 It is a framework diagram of the simulation engine server in the system of the present invention;

[0068] Figure 4 It is a framework diagram of the simulation engine client in the system of the present invention;

[0069] Figure 5 A flow chart of the distributed simulation test method provided by the present invention;

[0070] Figure 6 A flowchart for allocating rendering tasks for the simulation engine server in conjunction with requests from the simulation engine client;

[0071] Figure 7 A flowchart for allocating rendering tasks for the simulation engine server in combination with the performance of the simulation engine client;

[0072] Figure 8 A schematic diagram of the process of the access end accessing the simulation engine server and obtaining simulation data;

[0073] Fig. 9 A schematic diagram of the process of an access end accessing a simulation engine client and obtaining a simulation image. DETAILED DESCRIPTION

[0074] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0075] like Figure 1 As shown, the present invention provides a distributed simulation test system for multiple unmanned systems, including n access terminals, a simulation engine server terminal and m simulation engine clients, wherein the access terminals, the simulation engine server terminal and the simulation engine clients establish communication connections with each other;

[0076] The access terminal is used to calculate the control amount of the unmanned system based on the simulation data and simulation image of the unmanned system;

[0077] The simulation engine server is used to assign rendering tasks to the simulation engine client; perform simulation control on the simulation nodes corresponding to the unmanned system and generate simulation data for the unmanned system;

[0078] The simulation engine client is used to render the observation screen of the unmanned system to obtain a simulation image of the unmanned system.

[0079] from Figure 1 It can be seen that the present invention realizes the decoupling of simulation calculation and simulation rendering, with the simulation engine server dedicated to simulation calculations such as simulation logic control and data synchronization, and multiple simulation engine clients dedicated to distributed simulation rendering.

[0080] like Figure 2 As shown, each access terminal includes an access terminal communication module, a computing module and an access terminal storage module;

[0081] The access end communication module is used to establish a communication connection with the simulation engine server, obtain the simulation data of the unmanned system from the simulation engine server, and send the control quantity of the unmanned system to the simulation engine server; it is also used to establish a communication connection with the simulation engine client, and obtain the simulation image of the unmanned system from the simulation engine client;

[0082] The calculation module is used to calculate the control amount of the unmanned system based on the simulation data and simulation image of the unmanned system;

[0083] The access end storage module is used to store the simulation images and simulation data of the unmanned system; it is also used to store the IP address of the simulation engine server and the IP address of the simulation engine client.

[0084] like Figure 3 As shown, the simulation engine server includes a server communication module, a node generation module, a node operation module, a node simulation module and a server storage module;

[0085] The server communication module is used to establish a communication connection with the access terminal, obtain the control amount of the unmanned system from the access terminal, and send the simulation data of the unmanned system to the access terminal; it is also used to establish a communication connection with the simulation engine client, assign the rendering task of the unmanned system to the simulation engine client, and realize data synchronization with the simulation engine client;

[0086] The node generation module is used to generate simulation nodes corresponding to the unmanned system one by one;

[0087] The node operation module is used to generate the operation environment and NPC for simulation test; it is also used to simulate the behavior of the unmanned system and generate simulation data of the unmanned system in combination with the control quantity sent by the access end;

[0088] The node simulation module is used to realize the physical simulation of unmanned systems, such as the dynamics simulation of unmanned vehicles and the flight control simulation of drones.

[0089] The server storage module is used to store the identification of the unmanned system, the identification of the formation, the matching relationship between the identification of the formation and the identification of the unmanned system, the corresponding relationship between the identification of the unmanned system and the IP address of the simulation engine client, etc.

[0090] like Figure 4 As shown, each simulation engine client includes a client communication module, a rendering module and a client storage module;

[0091] The client communication module is used to establish a communication connection with the simulation engine server to achieve data synchronization with the simulation engine server; it is also used to establish a communication connection with the access terminal to send the simulation image of the unmanned system to the access terminal;

[0092] The rendering module is used to render the observation picture of the unmanned system to obtain a simulation image of the unmanned system;

[0093] The client storage module is used to store the IP address of the simulation engine server, the identification of the unmanned system, etc.

[0094] In this embodiment, the above-mentioned distributed simulation test system is applied to the performance simulation test of multiple unmanned systems, and a test method of the distributed simulation test system of multiple unmanned systems is provided, such as Figure 5 As shown, it includes the following steps:

[0095] Step 1: The simulation engine server generates simulation nodes corresponding to k unmanned systems, and assigns rendering tasks of k unmanned systems to m simulation engine clients:

[0096] The present invention performs simulation tests on k unmanned systems, where k is an integer greater than 1. When the simulation test starts, the simulation engine server is started, and a node generation module of the simulation engine server generates k simulation nodes, one simulation node corresponding to one unmanned system.

[0097] In order to realize the decoupling of simulation calculation and picture rendering and to share the resource processing pressure of the simulation engine, the present invention starts m simulation engine clients to perform rendering, where m is a positive integer less than or equal to k. Each simulation engine client is pre-set with the IP address of the simulation engine server. When the simulation engine client is started, the communication module of the simulation engine client sends a communication connection request to the communication module of the simulation engine server according to the IP address of the simulation engine server. The simulation engine server establishes an exclusive communication channel with the simulation engine client according to the communication connection request, and allocates the rendering task of the corresponding unmanned system to the simulation engine client.

[0098] In the present invention, the simulation engine server can allocate rendering tasks in combination with the request of the simulation engine client, or can allocate rendering tasks in combination with the performance of the simulation engine client;

[0099] like Figure 6 As shown, the simulation engine server allocates rendering tasks in combination with the request of the simulation engine client. The specific process includes the following steps:

[0100] Step 1.1: The simulation engine server generates k simulation nodes;

[0101] Step 1.2: m simulation engine clients send communication connection requests to the simulation engine server respectively; wherein the communication connection request includes: the IP address of the simulation engine client and the identifier of the unmanned system;

[0102] In this embodiment, a list of tested objects is preset in the simulation engine server and each simulation engine client, and the list of tested objects includes the identifiers (such as ID, key, character string, etc.) of k unmanned systems participating in the simulation test.

[0103] Step 1.3: The simulation engine server establishes exclusive communication channels with each of the m simulation engine clients;

[0104] Step 1.4: The simulation engine server allocates rendering tasks of the corresponding unmanned system to the m simulation engine clients according to the identifier of the unmanned system in the communication connection request.

[0105] The simulation engine server preferentially allocates rendering tasks according to the communication connection requests of the simulation engine clients. For example, if the m simulation engine clients are client 1 and client 2, and the communication connection request sent by client 1 includes the identifier of unmanned system 1, and the communication connection request sent by client 2 includes the identifier of unmanned system 2, then the simulation engine server allocates the rendering task of unmanned system 1 to client 1 and the rendering task of unmanned system 2 to client 2.

[0106] Optionally, if there are two or more simulation engine clients that send communication connection requests that include the same unmanned system identifier, the simulation engine client may assign the rendering task of the unmanned system to the simulation engine client that first sends the corresponding communication connection request according to the "send first" principle; or assign it to the simulation engine client corresponding to the corresponding communication connection request that is first received by the simulation engine server according to the "receive first" principle.

[0107] For example, there are m simulation engine clients, namely client 1, client 2 and client 3, and the communication connection requests sent by client 1 and client 2 both include the identification of unmanned system 1, and the communication connection request sent by client 3 includes the identification of unmanned system 2, then the simulation engine server assigns the rendering task of unmanned system 2 to client 3; assuming that client 1 sends the communication connection request before client 2, but the simulation engine server receives the communication connection request from client 2 first, then the simulation engine server can assign the rendering task of unmanned system 1 to client 1 according to the principle of "send first", or assign the rendering task of unmanned system 1 to client 2 according to the principle of "receive first".

[0108] Based on this, for the simulation engine client that has not been assigned rendering tasks according to the communication connection request, the simulation engine server can randomly assign rendering tasks of other unmanned systems to it; or it can send a task allocation failure indication and a list of objects to be selected to be tested to the corresponding simulation engine client through the corresponding communication channel, and the corresponding simulation engine client will reselect the identifier of the unmanned system from the list of objects to be selected to be tested, and send it to the simulation engine server again, etc.

[0109] like Figure 7 As shown, the simulation engine server allocates rendering tasks in combination with the performance of the simulation engine client. The specific process includes the following steps:

[0110] Step 1.A: The simulation engine server generates k simulation nodes;

[0111] Step 1.B: m simulation engine clients send communication connection requests to the simulation engine server respectively; wherein the communication connection request includes: the IP address of the simulation engine client and the performance identifier of the simulation engine client;

[0112] The performance identifier is used to indicate the CPU and / or GPU performance of the simulation engine client, and the performance identifier may be a grade, a score, a performance parameter, etc.

[0113] Step 1.C: The simulation engine server establishes exclusive communication channels with each of the m simulation engine clients;

[0114] Step 1.D: The simulation engine server allocates rendering tasks of the corresponding unmanned system to m simulation engine clients according to the performance identifier of the simulation engine client in the communication connection request.

[0115] In this embodiment, a task allocation relationship is preset in the simulation engine server, and the task allocation relationship includes a correspondence between at least one group of unmanned system identifiers and the performance identifiers of the simulation engine clients. Based on the task allocation relationship, the simulation engine server allocates the rendering task of the unmanned system corresponding to the performance identifier of the simulation engine client in the corresponding communication connection request to each simulation engine client.

[0116] For example, taking the performance identification of the simulation engine client as a level (A for the best performance, B for the medium performance, and C for the worst performance) as an example, the task allocation relationship is shown in the following Table 1; assuming that there are m simulation engine clients, namely, client 1, client 2, and client 3, and the communication connection request sent by client 1 includes a performance identification of C, the communication connection request sent by client 2 includes a performance identification of A, the communication connection request sent by client 3 includes a performance identification of B, the identification of unmanned system 1 is 001, the identification of unmanned system 2 is 010, and the identification of unmanned system 3 is 011; then, the simulation engine server allocates the rendering task of unmanned system 2 to client 1, the rendering task of unmanned system 3 to client 2, and the rendering task of unmanned system 1 to client 3.

[0117] Table 1 Task allocation relationship

[0118] Identification of unmanned systems Performance indicators of the simulation engine client 001 A.B 010 A, B, C 011 A

[0119] In the above examples, a simulation engine client is responsible for the rendering task of an unmanned system, but this does not constitute a limitation of the present invention. In actual applications, a simulation engine client can also be responsible for the rendering tasks of multiple unmanned systems. For example, in steps 1.1 to 1.4, the simulation engine client can request the rendering tasks of multiple unmanned systems from the simulation engine server in the communication connection request; or, in steps 1.A to 1.D, the simulation engine server can assign rendering tasks of multiple unmanned systems to the simulation engine client according to the performance of the simulation engine client. However, in the present invention, the rendering task of the same unmanned system is only assigned to one simulation engine client.

[0120] In the above two examples, the simulation engine server can maintain a rendering comparison table, which includes the correspondence between the identifier of the unmanned system and the IP address of the simulation engine client. Whenever the simulation engine server assigns a rendering task of the corresponding unmanned system to a simulation engine client, the rendering comparison table is updated, a correspondence is established between the IP address of the simulation engine client and the identifier of the unmanned system, and the correspondence is written into the rendering comparison table.

[0121] Step 2: n access terminals establish communication connections with the simulation engine server, and obtain simulation node data of the corresponding unmanned system from the simulation engine server:

[0122] During the simulation test, the simulation engine server can access n access terminals to control the behavior of k unmanned systems, where n is a positive integer. Among them, one access terminal can control the behavior of one or more unmanned systems, and the behavior of an unmanned system can only be controlled by one access terminal; when one access terminal controls the behavior of multiple unmanned systems, these multiple unmanned systems need to belong to the same formation in the simulation test, and the behavior of multiple unmanned systems in the same formation can only be controlled by the same access terminal. For example, two formations are divided in the simulation test, namely formation 1 and formation 2. Formation 1 includes unmanned systems 1 to 10, and formation 2 includes unmanned systems 11 to 20. The behavior of unmanned systems 1 to 10 can be controlled by one access terminal, and the behavior of unmanned systems 11 to 20 can be controlled by another access terminal.

[0123] In this embodiment, the access terminal P among the n access terminals is i (i is a positive integer less than or equal to n) as an example, Figure 8 As shown in the figure, the specific process of the access end accessing the simulation engine server and obtaining simulation data is as follows:

[0124] Step 2.1: Access point P i Send a communication connection request C1 to the simulation engine server i :

[0125] Each access point is pre-set with the IP address of the simulation engine server. i The communication module sends a communication connection request C1 to the communication module of the simulation engine server according to the IP address of the simulation engine server. i .

[0126] Step 2.2: Simulation engine server and access terminal P i Establish exclusive communication channel CH1 i :

[0127] After step 2.2, the simulation engine server can send a iSend connection establishment indication I1 i , to indicate the exclusive communication channel CH1 i Establishment success or failure. If the dedicated communication channel CH1 i If the establishment fails, the access point P i You can wait for a while (such as 0.1s, 0.05s, etc.) and then send a communication connection request C1 to the simulation engine server again. i , until the dedicated communication channel CH1 i Build successfully.

[0128] Step 2.3: Access point P i Through dedicated communication channel CH1 i , send authentication information D to the simulation engine server i :

[0129] Authentication InformationD i Used to verify the access point P i The data acquisition authority for the simulation data and simulation images of the corresponding unmanned system. Among them, the identity verification information D i The ID of the unmanned system formation and the ID of one or more unmanned systems are the access terminals P i The unmanned system controlled by the access terminal P i The formation in which the unmanned system under control is located.

[0130] Step 2.4: The simulation engine server receives the authentication information D i Verify access point P i Data access permissions:

[0131] The simulation engine server has a pre-set fleet information table, which includes: the identification of one or more fleets participating in the simulation test, and the identification of all unmanned systems in each fleet. Based on this, the simulation engine server can verify the data acquisition authority by including: identity authentication information D i Whether the unmanned system formation's logo is occupied, identity verification information D i The identification of one or more unmanned systems matches the identification of the unmanned system formation. If an access terminal passes the data acquisition authority verification, the identification of the formation where the unmanned system controlled by the access terminal is occupied, and the simulation engine server updates the identification status of the formation.

[0132] In this embodiment, two formations are divided in the simulation test, and each formation includes four unmanned series as an example. The formation information table is shown in Table 2 below; assuming that the identity authentication information D iThe ID of the unmanned system formation included in the simulation engine server is 01, and the IDs of the unmanned system are 000, 001, 010, and 111. Then, the simulation engine server can first verify whether the ID of the unmanned system formation is occupied. Assuming that the latest ID status of 01 obtained is not occupied, the simulation engine server continues to verify whether the ID of the unmanned system matches the ID of the unmanned system formation. Since 000, 001, and 010 match 01, and 111 does not match 01, the access end P i Failed to verify data access permissions.

[0133] Table 2 Formation Information Table

[0134]

[0135] In step 2.4, if the access point P i After the data acquisition authority is verified, the simulation engine server will access the P i The identification status of the formation where the controlled unmanned system is located is updated to occupied, and the access terminal P is returned. i The simulation resource control identifier of each unmanned system controlled is on the exclusive communication channel CH1 i One or more communication sub-channels are established in the i The simulation resource control identifier of an unmanned system controlled by the access terminal corresponds to the simulation data of each unmanned system, and the simulation data of each unmanned system is transmitted through the corresponding communication sub-channel. i If the data acquisition permission is not verified, the simulation engine server can i Send permission verification instruction V i , to indicate the access point P i Failed to pass the data acquisition permission verification and the reason for failure to pass the verification, access end P i You can modify and resend the authentication information D i .

[0136] Step 2.5: During the simulation test, the simulation engine server communicates with the server through the dedicated communication channel CH1. i , to the access end P i Send simulation data of the corresponding unmanned system:

[0137] If the access port P i After the data acquisition authority is verified, the access terminal P i The simulation resource control identifier of one or more unmanned systems can be obtained. The simulation engine server uses the exclusive communication channel CH1 i The communication sub-channels corresponding to each unmanned system in the access terminal P i Send the simulation data of the corresponding unmanned system. The simulation engine server can send the simulation data of the corresponding unmanned system to the access terminal Pi Actively push streams to send simulation data, or based on the access end P i The request to access point P i The present invention does not limit the specific data transmission method adopted by the simulation engine server. For simulation data with large computing resources required for the acquisition process, the "request-reply" method can be adopted, and for simulation data with small computing resources required for the acquisition process, the "active push stream" method can be adopted.

[0138] In this embodiment, the simulation engine server end sends a i Actively pushed simulation data includes at least one of the following: control information (such as brake, throttle, steering, gear, etc.), damage information (such as the damage type of the last damage, timestamp, unmanned system identification that caused the damage, unmanned system lost health value, etc.), attribute information (such as the remaining ammunition and remaining health of the unmanned system). i The simulation data for the request reply includes at least one of the following: enemy information within the detection range of the unmanned system (such as the number of enemy unmanned systems, the distance of enemy unmanned systems, etc.), obstacle information within the detection range of the unmanned system (such as obstacle type, number of obstacles, etc.).

[0139] Step 3: The n access terminals establish communication connections with the m simulation engine clients, and obtain simulation images of the corresponding unmanned systems from the m simulation engine clients:

[0140] After the simulation engine client is assigned to the rendering task of the corresponding unmanned system in step 1, data synchronization of the corresponding unmanned system is established between the simulation engine server and the simulation engine client. The simulation engine server sends the simulation data of the corresponding unmanned system to the simulation engine client through the corresponding exclusive communication channel, and the simulation engine client renders the simulation image of the corresponding unmanned system.

[0141] When controlling the behavior of the unmanned system, the access terminal can calculate the control amount in combination with the simulated image of the unmanned system; or, the access terminal can obtain the simulated image of the unmanned system for image recognition, annotation, etc., to generate an image data set. In order to obtain the simulated image of the unmanned system, the access terminal needs to establish a communication connection with the simulation engine client. In the present invention, an access terminal can control the behavior of one or more unmanned systems, while the behavior of an unmanned system can only be controlled by one access terminal, and the rendering task of an unmanned system is only assigned to one simulation engine client. Therefore, the communication connection between the access terminal and the simulation engine client is a one-to-one or one-to-many connection.

[0142] In this embodiment, the access terminal P among the n access terminals is i For example, Fig. 9As shown in FIG. 1 , the specific process of the access end accessing the simulation engine client and obtaining the simulation image is as follows:

[0143] Step 3.1: Access point P i Send a communication connection request C2 to the target simulation engine client among the m simulation engine clients i :

[0144] Access Point P i The communication module sends a communication connection request C2 to the communication module of the target simulation engine client according to the IP address of the target simulation engine client. i Among them, the target simulation engine client is assigned to the access terminal P among the m simulation engine clients. i The rendering task of the controlled unmanned system, the target simulation engine client may be one or more simulation engine clients.

[0145] Reference Fig. 9 In this embodiment, the IP address of the target simulation engine client is obtained by the access terminal P i Obtained from the simulation engine server, access end P i When there is a need to obtain a simulation image, an address acquisition request can be sent to the simulation engine server. The address acquisition request includes the access end P i After receiving the address acquisition request, the simulation engine server searches for the IP address of the corresponding simulation engine client (target simulation engine client) based on the rendering comparison table and the identifier of the unmanned system included in the address acquisition request, and replies to the access terminal P i Of course, the simulation engine server can also actively send the access end P i The IP address of the target simulation engine client is pushed, and the present invention does not limit this. For example, in the above step 2.4, if the access terminal P i After the data acquisition authority is verified, the simulation engine server will use the rendering comparison table and the identity verification information D i The unmanned system identifier included in the target simulation engine client is found and sent to the access terminal P i .

[0146] Step 3.2: Target simulation engine client and access terminal P i Establish exclusive communication channel CH2 i :

[0147] When the target simulation engine client is multiple simulation engine clients, each simulation engine client is connected to the access terminal P i Establish a dedicated communication channel, that is, the simulation engine client E in the target simulation engine client j (j is a positive integer) and the access terminal Pi Establish exclusive communication channel CH2 ij .

[0148] In this embodiment, after step 3.2, the simulation engine client E in the target simulation engine client j , can be sent to the access terminal P i Send connection establishment indication I2 ij , to indicate the exclusive communication channel CH2 ij Establishment success or failure. If the dedicated communication channel CH2 ij If the establishment fails, the access point P i You can wait for a while (such as 0.1s, 0.05s, etc.) and then send the simulation engine client E j Send communication connection request C2 i , until the dedicated communication channel CH2 ij Build successfully.

[0149] Step 3.3: During the simulation test, the target simulation engine client communicates with the target simulation engine through the dedicated communication channel CH2. i , to the access end P i Send the simulated image of the corresponding unmanned system:

[0150] Simulation Engine Client E in Target Simulation Engine Client j Through dedicated communication channel CH2 ij , to the access end P i Send simulation engine client E j A simulated image of an unmanned system is generated.

[0151] It should be noted that the present invention does not limit the specific timing of the simulation engine client performing rendering. In one example, the simulation engine client immediately starts to perform simulation rendering after establishing data synchronization with the simulation engine server. In another example, in order to avoid the waste of simulation resources and taking into account the personalized needs of users, the simulation engine client automatically starts to perform simulation rendering after establishing a communication connection with the access terminal; or, after the simulation engine client establishes a communication connection with the access terminal, it starts to perform simulation rendering based on the notification of the simulation engine server.

[0152] For example, the access point P i When there is a need to obtain a simulation image, the simulation engine server requests the IP address of the target simulation engine client and establishes a communication connection with the target simulation engine client based on the IP address; then the target simulation engine client automatically starts to perform simulation rendering and sends a signal to the access end P i Send a simulated image.

[0153] For example, at the access end P iWhen the data acquisition authority is verified, the simulation engine server actively pushes the IP address of the target simulation engine client to the access terminal P i ; and the access end P i When there is a need to obtain a simulation image, a communication connection is established with the target simulation engine client based on the IP address; then the target simulation engine client automatically starts to perform simulation rendering and sends a signal to the access terminal P i Send a simulated image.

[0154] For another example, the access terminal P i Establish a communication connection with the target simulation engine client in advance; then access the terminal P i When there is a need to obtain a simulation image, an image acquisition request is sent to the simulation engine server, and the simulation engine server forwards the image acquisition request to the target simulation engine client; the target simulation engine client starts to perform simulation rendering only after receiving the image acquisition request, and sends a request to the access end P i Send a simulated image.

[0155] Optionally, for different purposes of the access terminal acquiring the simulated image, the sending frequency of the simulated image can also be configured differently. For example, for the access terminal acquiring the simulated image for calculating the control quantity, a higher sending frequency can be configured (such as sending a simulated image every 0.1s); for the access terminal acquiring the simulated image for generating an image data set, a lower sending frequency can be configured (such as sending a simulated image every 10s). Optionally, the sending frequency of the simulated image is requested to be configured by the access terminal to the simulation engine server, and then the simulation engine server notifies the simulation engine client of the sending frequency. For example, the access terminal directly sends the sending frequency of the simulated image to the simulation engine server, or the access terminal sends the purpose of acquiring the simulated image to the simulation engine server, and the simulation engine server determines the sending frequency of the simulated image based on a preset frequency comparison relationship (the corresponding relationship between the purpose of acquiring the simulated image and the sending frequency of the simulated image). Among them, the access end can send the sending frequency or acquisition purpose of the simulation image as independent information to the simulation engine server, or carry it in the above-mentioned address acquisition request or image acquisition request, etc.; in addition, the simulation engine server can send the sending frequency of the simulation image as independent information to the simulation engine client, or carry it in the above-mentioned image acquisition request.

[0156] Another point that needs to be explained is that the present invention does not limit the specific time when the simulation engine client ends rendering. In one example, the simulation engine client ends rendering when the simulation test ends, or the client is disconnected, or stops data synchronization with the simulation engine server. In another example, in order to avoid the waste of simulation resources and taking into account the personalized needs of users, the simulation engine client ends rendering based on the notification of the simulation engine server; or, the simulation engine client receives the end rendering condition sent by the simulation engine server in advance, and automatically ends rendering when the end rendering condition is met.

[0157] For example, the access point P i During the simulation test, if there is no need to obtain the simulation image, a rendering end request is sent to the simulation engine server, and the simulation engine server forwards the rendering end request to the target simulation engine client. When the target simulation engine client receives the rendering end request, the rendering ends and the access end P stops. i Send a simulated image.

[0158] For example, the access terminal P i The end rendering condition is sent to the simulation engine server in advance, and the simulation engine server forwards the end rendering condition to the target simulation engine client in advance; when executing simulation rendering and sending simulation images, the target simulation engine client continuously monitors whether the end rendering condition is met, and ends rendering if it is met, and stops sending the end rendering condition to the access end P i Send the simulation image. Optionally, the end rendering condition includes but is not limited to any one of the following: the cumulative running time of the simulation test, the cumulative execution time of the simulation rendering, the cumulative number of simulation images sent, etc. The end rendering condition can be transmitted as an independent information, or can be carried in other information, such as in the above-mentioned image acquisition request or address acquisition request.

[0159] Step 4: The n access terminals respectively calculate the control amount of the corresponding unmanned system based on the simulation data and / or simulation image of the corresponding unmanned system, and send the control signaling of the corresponding unmanned system to the simulation engine server:

[0160] Each access terminal calculates the control amount of each unmanned system it controls based on the simulation data and simulation image of the corresponding unmanned system, or directly based on the simulation data of the corresponding unmanned system, and encapsulates the control amount in the control signaling, and sends the control signaling of the corresponding unmanned system to the communication module of the simulation engine server through a dedicated communication channel. Optionally, the control amount of the unmanned system includes at least one of the following: motion control amount (such as throttle, steering, brake, gear and other actions and parameters), strike control amount (such as firing, firing direction and other actions and parameters).

[0161] Step 5: The simulation engine server controls the simulation nodes corresponding to the k unmanned systems to execute corresponding control signals, and generates simulation data through the simulation engine server, and generates simulation images through the m simulation engine clients:

[0162] Whenever the communication module of the simulation engine server receives a control signaling of an unmanned system, it forwards it to the node operation module of the simulation engine server, and the node operation module controls the simulation node corresponding to the unmanned system to execute the control signaling. During the simulation test, the simulation engine server generates simulation data based on the simulation control of k unmanned systems; the m simulation engine clients render simulation images based on data synchronization with the simulation engine server; the n access terminals calculate the control quantity based on the simulation data obtained from the simulation engine server and / or the simulation images obtained from the simulation engine clients; the above process is repeated until the simulation test ends. It should be understood that during the simulation test, the m simulation engine clients may not always perform simulation rendering, and each simulation engine client may start and end simulation rendering at a specific time, as well as the frequency of sending simulation images.

[0163] According to the above content, it can be seen that the present invention has the following innovations and advantages compared with the related art:

[0164] Innovation 1: For simulation testing of large-scale unmanned systems, distributed simulation is implemented based on the "server-client" architecture to share the resource processing pressure of the simulation engine.

[0165] The effect is that the control, rendering and calculation of the simulation test in the related art are all performed by a simulation engine device, and the device processing overhead is large. In the present invention, the simulation engine is designed as a "server-client" architecture mode, the simulation engine server is responsible for simulation control and simulation calculation, and the simulation engine client is responsible for simulation rendering, which realizes the decoupling of simulation calculation and simulation rendering. The simulation engine server and the simulation engine client are deployed on different devices, and the resource processing pressure of the simulation engine is shared through distributed simulation. In addition, the present invention can start multiple simulation engine clients to perform simulation rendering, and further reduce the processing overhead of a single device through distributed rendering, thereby improving the operation efficiency of the simulation test as a whole. In addition, in the present invention, only the simulation image is transmitted between the simulation engine client and the access terminal without involving the transmission of configuration information, etc. The configuration information, etc. is processed and forwarded by the simulation engine server, which realizes the reuse of the existing "server-client" architecture mode, reduces the development difficulty, and improves the development efficiency and applicability of distributed simulation based on the "server-client" architecture.

[0166] Innovation 2: Provides multiple ways to flexibly turn on and off the simulation rendering of the simulation engine client.

[0167] The effect brought is: in the related art, the simulation engine needs to perform rendering in the whole process of the simulation test, and the processing resources are consumed relatively large. In the present invention, based on the different acquisition requirements of the access terminal for the simulation image, the simulation rendering function of the simulation engine client can be flexibly turned on and off, and the processing resources of the simulation engine client can be avoided by matching the execution timing of the simulation rendering with the image acquisition requirements of the access terminal. In addition, the present invention provides a variety of ways to realize the flexible opening and closing of the simulation rendering, such as automatically turning on the simulation rendering based on the establishment of a communication connection, triggering the opening and closing of the simulation rendering through the notification of the simulation engine server, and automatically turning off the simulation rendering based on the monitoring of the end rendering conditions, etc., which effectively realizes the opening and closing of the simulation rendering at any time during the simulation test.

[0168] Innovation point 3: The simulation image is directly transmitted between the simulation engine client and the access end, and the sending frequency of the simulation image can be flexibly configured.

[0169] The effect brought is: the present invention establishes a communication connection between the access terminal and the simulation engine client, directly transmits the simulation image of the unmanned system without forwarding through the simulation engine server, avoids bringing additional processing overhead to the simulation engine server, and also improves the image transmission efficiency. In addition, based on the different use purposes of the simulation image by the access terminal, the sending frequency of the simulation image can be flexibly configured, such as configuring a higher sending frequency if the simulation image is used to calculate the control amount, and configuring a lower sending frequency if the simulation image is used to generate an image data set, which effectively reduces the processing overhead of the simulation engine client while ensuring that the personalized use needs of the user are met.

[0170] Innovation 4: For simulation testing of large-scale unmanned systems, the data access authority of the access point is verified before transmitting simulation data and simulation images.

[0171] The effect is as follows: in the simulation test of large-scale unmanned systems, multiple formations are divided, and one formation can only be controlled by one access terminal. In the test based on real scenes, the access terminal can only obtain the simulation data and simulation images of the unmanned system controlled by itself and its formation. Therefore, the present invention verifies the data acquisition authority of the access terminal before transmitting data to the access terminal. Only after the access terminal passes the verification can it obtain the relevant data of the unmanned system controlled by it, achieving a more realistic test effect. Because in scenes such as actual competitions, the formation can only obtain the operation information of its own formation, and the operation information of other formations cannot be obtained, so verifying the data acquisition authority is closer to scenes such as real competitions.

Claims

1. A distributed simulation test method for multiple unmanned systems, characterized in that: Applied in a distributed simulation test system, the distributed simulation test system includes n access terminals, a simulation engine server, and m simulation engine clients; the distributed simulation test method includes the following steps: S1: The simulation engine server generates simulation nodes corresponding to k unmanned systems respectively, and distributes rendering tasks of the k unmanned systems to m simulation engine clients, where k is an integer greater than 1, and m is a positive integer less than or equal to k; S2: n access terminals establish a communication connection with the simulation engine server, and obtain simulation data of the corresponding unmanned system from the simulation engine server, where n is a positive integer; S3: n access terminals establish communication connections with m simulation engine clients, and obtain simulation images of corresponding unmanned systems from the m simulation engine clients; S4: The n access terminals respectively calculate the control amount of the corresponding unmanned system based on the simulation data and / or simulation image of the corresponding unmanned system, and send the control signaling of the corresponding unmanned system to the simulation engine server; S5: The simulation engine server controls the simulation nodes corresponding to the k unmanned systems to execute corresponding control signals, generates simulation data through the simulation engine server, and generates simulation images through the m simulation engine clients.

2. A distributed simulation test method for a multi-unmanned system according to claim 1, characterized in that: In step S1, the simulation engine server allocates rendering tasks in combination with the request of the simulation engine client. The specific process includes the following steps: A1: The simulation engine server generates k simulation nodes; A2: m simulation engine clients send communication connection requests to the simulation engine server respectively; wherein the communication connection request includes: the IP address of the simulation engine client and the identifier of the unmanned system; A3: The simulation engine server establishes exclusive communication channels with each of the m simulation engine clients; A4: The simulation engine server allocates rendering tasks of the corresponding unmanned system to the m simulation engine clients according to the identifier of the unmanned system in the communication connection request.

3. The distributed simulation test method for a multi-unmanned system according to claim 1, characterized in that: In step S1, the simulation engine server allocates rendering tasks in combination with the performance of the simulation engine client. The specific process includes the following steps: B1: The simulation engine server generates k simulation nodes; B2: m simulation engine clients send communication connection requests to the simulation engine server respectively; wherein the communication connection request includes: the IP address of the simulation engine client and the performance identifier of the simulation engine client; B3: The simulation engine server establishes exclusive communication channels with each of the m simulation engine clients; B4: The simulation engine server allocates rendering tasks of the corresponding unmanned system to m simulation engine clients according to the performance identifier of the simulation engine client in the communication connection request.

4. A distributed simulation test method for a multi-unmanned system according to claim 2 or 3, characterized in that: The simulation engine server allocates rendering tasks according to the rendering comparison table. The simulation engine server maintains the rendering comparison table, which includes the correspondence between the identifier of the unmanned system and the IP address of the simulation engine client. Whenever the simulation engine server allocates a rendering task of the corresponding unmanned system to a simulation engine client, the rendering comparison table is updated, a correspondence is established between the IP address of the simulation engine client and the identifier of the unmanned system, and the correspondence is written into the rendering comparison table.

5. The distributed simulation test method for multiple unmanned systems according to claim 1, characterized in that: The specific process of step S2 is: C1: Access point P i Send a communication connection request C1 to the simulation engine server i , i is a positive integer less than or equal to n; C2: Simulation engine server and access terminal P i Establish exclusive communication channel CH1 i ; C3: Access point P i Through dedicated communication channel CH1 i , send authentication information D to the simulation engine server i ; C4: The simulation engine server is based on the identity authentication information D i Verify access point P i Data access rights; C5: During the simulation test, the simulation engine server communicates with the server through the dedicated communication channel CH1. i , to the access end P i Send simulation data of corresponding unmanned system.

6. A distributed simulation test method for a multi-unmanned system according to claim 5, characterized in that: The simulation engine server is pre-installed with a formation information table, which includes: the identification of one or more formations participating in the simulation test, and the identification of all unmanned systems in each formation; the verification content of the data acquisition authority in step C4 includes: identity authentication information D i Whether the unmanned system formation's logo is occupied, identity verification information D i Whether the identification of one or more unmanned systems matches the identification of the unmanned system formation; wherein, if the first access terminal passes the verification of data acquisition authority, the identification of the formation where the unmanned system controlled by the first access terminal is located is occupied, and the simulation engine server updates the identification status of the formation.

7. The distributed simulation test method for multiple unmanned systems according to claim 1, characterized in that: The specific process of step S3 is: D1: Access point P i Send a communication connection request C2 to the target simulation engine client among the m simulation engine clients i ; D2: Target simulation engine client and access terminal P i Establish exclusive communication channel CH2 i ; D3: During the simulation test, the target simulation engine client communicates with the target simulation engine through the dedicated communication channel CH2. i , to the access end P i Send simulated images of corresponding unmanned systems.

8. The distributed simulation test method for multiple unmanned systems according to claim 1, characterized in that: The communication connection between the access terminal and the simulation engine client in step S3 is a one-to-one or one-to-many connection.

9. The distributed simulation test method for multiple unmanned systems according to claim 1, characterized in that: The simulation engine client obtains the simulation image of the unmanned system by executing the rendering task. The timing when the simulation engine client starts to execute the rendering task includes any of the following: the simulation engine client immediately starts to execute the rendering task after establishing data synchronization with the simulation engine server; the simulation engine client automatically starts to execute the rendering task after establishing a communication connection with the access terminal; After establishing a communication connection with the access end, the simulation engine client starts to execute the rendering task based on the notification of the simulation engine server; The timing when the simulation engine client ends the rendering task includes any of the following: the simulation engine client ends the rendering task when the simulation test ends or the simulation engine client is disconnected or stops data synchronization with the simulation engine server; The simulation engine client ends the rendering task based on the notification from the simulation engine server; The simulation engine client receives the end rendering condition sent by the simulation engine server in advance, and automatically ends the rendering task when the end rendering condition is met.

10. The distributed simulation test method for multiple unmanned systems according to claim 7, characterized in that: The sending frequency of the simulation image is configured according to the purpose of the access end obtaining the simulation image. The configuration method is that the access end directly sends the sending frequency of the simulation image to the simulation engine server, and then the simulation engine server notifies the sending frequency to the simulation engine client, or the access end sends the purpose of obtaining the simulation image to the simulation engine server, and the simulation engine server determines the sending frequency of the simulation image based on a preset frequency comparison relationship and sends it to the simulation engine client.

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