Power simulation method and system of planet probe vehicle

Abstract

The invention provides a dynamic simulation method and system for a planet probe vehicle, and belongs to the technical field of virtual simulation. Planet environment three-dimensional models corresponding to all planets are established; adjusting parameters in a preset original dynamic simulation model to obtain a dynamic simulation model and a visual model corresponding to each planet; after the dynamic simulation model of each planet is integrated with the corresponding visual model, rendering and simulation are carried out; the simulated scene state is displayed on a helmet-mounted display of the planet probe vehicle; according to a scene state displayed by a helmet-mounted display, determining position information of the planet probe vehicle in the virtual planet environment and obtaining a predicted driving action; performing driving behavior evaluation on the driving action of the driver based on the predicted driving action; according to the invention, the environment characteristics of different planets are accurately simulated, and the driving skill training efficiency of the planet probe vehicle is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of virtual simulation, and in particular relates to a power simulation modeling method, system, electronic equipment and storage medium for a planetary exploration vehicle. Background Art

[0002] In deep space exploration missions, planetary exploration rovers are the main exploration tools. Although they are extremely valuable, their development costs are high. In addition, the variability of the surface environment and the complexity of the terrain of each planet make it challenging and expensive to reproduce the special environment of each planet on Earth. Moreover, facing more complex and changeable planetary surface environments, such as the dust storms on Mars, the extremely cold conditions on Titan, or the rugged terrain on the surface of asteroids, traditional field exploration methods are particularly challenging.

[0003] Virtual simulation is a technology that uses computer software and hardware to create a simulated environment or system to simulate physical phenomena, processes or system behaviors in the real world. Currently, virtual simulation technology is widely used in education and training, military defense, and scientific research. However, the application of virtual simulation technology in the field of planetary exploration has yet to be studied.

[0004] Therefore, there is an urgent need for a method of applying virtual simulation technology to planetary exploration rovers suitable for different planets. Summary of the invention

[0005] The present invention provides a power simulation method, system, electronic equipment and storage medium for a planetary exploration vehicle, so as to overcome at least one technical problem existing in the prior art.

[0006] To achieve the above object, the present invention provides a power simulation method for a planetary exploration vehicle, the method comprising: establishing a three-dimensional model of the planetary environment corresponding to each planet based on environmental characteristic data of each planet; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics;

[0007] Based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle, the parameters are adjusted in the preset original power simulation model to obtain the power simulation model and the visualization model corresponding to each planet; wherein the original power simulation model is established by the driving data obtained by the hardware driving device of the planetary exploration vehicle;

[0008] After integrating the power simulation models of the various planets with the corresponding visualization models, rendering and simulation are performed; and the simulated scene status is displayed on the helmet display of the planet exploration vehicle;

[0009] According to the scene status displayed on the helmet display, the position information of the planetary exploration vehicle in the virtual planetary environment is determined and the predicted driving action is obtained; and the driving action of the driver is evaluated based on the predicted driving action.

[0010] Furthermore, a preferred method is that the hardware driving equipment of the planetary exploration rover includes a steering wheel, an accelerator pedal and a brake pedal.

[0011] Furthermore, a preferred method is that the three-dimensional model of the planetary environment corresponding to each planet is obtained through a PhysX engine.

[0012] Further, the preferred method is that the operation phases of the planetary exploration rover include a launch into orbit flight phase, a geostrophic planetary flight phase, a near-planetary braking flight phase, a planetary circumnavigation flight phase and a landing and descent flight phase.

[0013] Furthermore, a preferred method is that the predicted driving action is obtained by a motion trajectory prediction model based on MLP-LSTM.

[0014] Further, the preferred method is that the training method of the motion trajectory prediction model based on MLP-LSTM includes:

[0015] Acquire a data set of planetary exploration rover motion data; the planetary exploration rover motion data is operation data corresponding to each planetary exploration rover operation phase;

[0016] Using the data set of the planetary rover motion data to train a motion trajectory prediction model based on MLP-LSTM; updating the weights and biases of the motion trajectory prediction model based on MLP-LSTM through a back propagation algorithm according to the gradient calculated by the loss function;

[0017] The weights and biases in the motion trajectory prediction model based on MLP-LSTM are optimized and calculated and updated by a particle swarm optimization algorithm to obtain a trained motion trajectory prediction model based on MLP-LSTM; wherein the position and velocity updates of the particles are adjusted according to the individual optimal and global optimal solutions.

[0018] Furthermore, a preferred method is that the extreme weather characteristics include periodic sandstorms, extreme temperature differences between day and night, liquid methane lakes, sulfuric acid clouds, and coma and comet tails formed by ice evaporation.

[0019] In order to solve the above problems, the present invention also provides a planetary exploration rover power simulation system, which is used to perform the planetary exploration rover power simulation using the above planetary exploration rover power simulation method. The system includes a planetary environment building module, which is used to establish a three-dimensional planetary environment model corresponding to each planet based on the environmental characteristic data of each planet; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics;

[0020] A planetary simulation model building module is used to adjust parameters in a preset original power simulation model based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle to obtain a power simulation model and a visualization model corresponding to each planet; wherein the original power simulation model is established by driving data obtained by the hardware driving device of the planetary exploration vehicle;

[0021] A display module is used to integrate the power simulation model of each planet with the corresponding visualization model, and then render and simulate it; and display the simulated scene status on the helmet display of the planet exploration vehicle;

[0022] The interactive module is used to determine the position information of the planetary exploration vehicle in the virtual planetary environment and obtain the predicted driving action according to the scene status displayed by the helmet display; and to evaluate the driving action of the driver based on the predicted driving action.

[0023] In order to solve the above problems, the present invention also provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps in the power simulation method of the planetary exploration rover as described above.

[0024] In order to solve the above-mentioned problem, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the power simulation method of the planetary exploration vehicle as described above.

[0025] The present invention provides a power simulation method, system, electronic device and storage medium for a planetary exploration vehicle, which, by using advanced virtual simulation technology, constructs a simulation environment for real-time interaction by the operator. The environment uses parametric terrain modeling technology to accurately simulate the environmental characteristics of different planets, providing strong support for the dynamic and kinematic simulation verification of the planetary exploration vehicle, and significantly improving the efficiency of the exploration vehicle driving technology training. The present invention adjusts the parameters of the preset original power simulation model according to the environmental three-dimensional model unique to each planet and the characteristics of the exploration equipment at different operating stages, and optimizes and generates a power simulation model and a visualization model suitable for each planet. Compared with the traditional method of independently establishing a visualization model for each planet, the present invention greatly reduces the modeling workload and reduces the cost, while improving the efficiency and practicality of the simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic flow chart of a power simulation method for a planetary exploration vehicle provided by an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of a module of a power simulation system for a planetary exploration vehicle provided by an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of the internal structure of an electronic device for implementing a power simulation method for a planetary exploration vehicle provided by an embodiment of the present invention;

[0030] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0032] Figure 1 The power simulation method of the planetary exploration vehicle is described in an overall manner. Figure 1 A schematic flow chart of a method for simulating the power of a planetary exploration vehicle provided in accordance with an embodiment of the present invention; the method may be executed by a system, which may be implemented by software and / or hardware.

[0033] like Figure 1As shown, in this embodiment, the power simulation method of a planetary exploration vehicle includes steps S110 to S140.

[0034] S110. Based on the environmental characteristic data of each planet, a three-dimensional model of the planetary environment corresponding to each planet is established; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics, and atmospheric pressure characteristics.

[0035] Specifically, the planetary scenes may include but are not limited to: Mars, the Moon, Titan, Venus, Jupiter and its satellites, comets and some asteroids. The environmental characteristic data include climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics. It should be noted that in the specific implementation process, the landing position characteristics are also included. The extreme weather characteristics may include but are not limited to periodic sandstorms, extreme day and night temperature differences, liquid methane lakes, sulfuric acid clouds, ice evaporation to form coma and comet tails. That is to say, the surfaces of Mars, the Moon, Titan, Venus, Jupiter and its satellites, comets and some asteroids are set, and the climate and extreme weather are simulated at the same time. When the systems of climate and extreme weather on the surfaces of different celestial bodies are simulated, the unique environmental characteristics of each celestial body need to be considered as shown in Table 1.

[0036] Table 1 Environmental characteristics data of each planet

[0037]

[0038] The power simulation method of the planetary exploration vehicle of the present invention integrates the PhysX physics engine and the environmental model to reproduce the complex environment of the planetary surface with high precision, such as accurate gravity change simulation, variable atmospheric drag effect and fine terrain undulation, etc., thereby realizing high-precision simulation of the exploration process and providing a more realistic and reliable testing platform for scientific researchers. Through the PhysX engine, a three-dimensional model of the planetary environment with highly realistic physical reactions can be created, providing strong support for the power simulation and operation training of the planetary exploration vehicle. Specifically, the PhysX engine is used to set environmental physical properties such as gravity and air resistance; the sand in the sandstorm is set based on the software dynamics function. The fluid dynamics module simulates liquid methane lakes and rivers.

[0039] S120. Based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle, adjust parameters in the preset original power simulation model to obtain the power simulation model and visualization model corresponding to each planet; wherein the original power simulation model is established through driving data obtained by the hardware driving device of the planetary exploration vehicle.

[0040] The hardware driving equipment of the planetary exploration vehicle includes a steering wheel, an accelerator pedal and a brake pedal.

[0041] The operation phases of the planetary exploration vehicle include the launch into orbit flight phase, the geostrophic planetary flight phase, the near-planetary braking flight phase, the planetary circumnavigation flight phase and the landing and descent flight phase; refer to Table 2 for details.

[0042] Table 2 Parameters of each operation stage

[0043]

[0044] In the specific implementation process, taking Mars exploration as an example, the scene of the launch and orbit flight phase is as follows: With the completion of the launch countdown, the rocket engine ignites, generating huge thrust and sound, sending the spacecraft into space at an initial speed of 10 kilometers per second. The spacecraft then begins its interstellar journey, with the goal of Mars. Then it enters the geostrophic planetary flight phase, where the spacecraft uses the gravitational boost effect of the earth to orbit the earth at a speed of 7.5 kilometers per second along the predetermined orbit. Then it enters the near-planetary braking phase. When approaching Mars, the braking engine is started and a deceleration maneuver is performed, gradually reducing the speed from 7.5 kilometers per second to adapt to the gravitational field of Mars. Then it enters the circumplanetary flight phase. Under the action of the gravity of Mars, the spacecraft is captured by Mars and enters the orbit of Mars, orbiting Mars at a speed of 3.5 kilometers per second. Next is the Mars landing phase. The spacecraft begins to execute the descent trajectory, penetrates the thin atmosphere of Mars, and controls the descent speed to 1 meter per second. Then it enters the landing and descent operation phase, where the spacecraft makes attitude adjustments to prepare for the landing procedure. When its altitude dropped to 1 km, the spacecraft completed the final landing preparations, and after a brief contact, it landed smoothly on the surface of Mars, and then started its exploration mission on the surface of Mars.

[0045] S130, integrating the power simulation models of the various planets with the corresponding visualization models, and then rendering and simulating them; and displaying the simulated scene status on the helmet display of the planet exploration vehicle.

[0046] The process of integrating the power simulation model of each planet with the corresponding visualization model includes: the integration process includes setting the force application points and force receiving points defined in the physical model to the positions of the corresponding components in the visualization model, so as to realize the binding of the physical model with the visualization model. In this way, when the physical model is calculating, the visualization model can reflect the dynamic process and current state of the simulation in real time and provide intuitive feedback. In the specific implementation process, model integration: ensure the consistency of the structure and function of the power simulation model and the visualization model so that they can work together seamlessly. Corresponding setting of force application points and force receiving points: accurately mark the force application points and force receiving points in the visualization model to match the definition in the physical model. Model binding: realize the binding of the physical model and the visualization model through programming technology to ensure data synchronization and interaction between them. Real-time rendering: during the simulation process, the visualization model is updated in real time using graphics rendering technology to display the calculation results of the physical model. Dynamic feedback: the visualization model should be able to display the motion state of the planet probe at different flight stages, including speed, acceleration, attitude changes, etc.

[0047] Specifically, the driver determines the location information of the planet exploration vehicle in the virtual planet environment and performs driving actions according to the scene status displayed on the helmet display. The driving data of each stage is stored in the mongdb database, as shown in the following example:

[0048] {"timestamp":"2024-07-25T00:00:05Z","descent_speed":1.0,"altitude":1000,"attitude_angle":-10.0,"temperature":-70,"pressure":6,"wind_speed":5,"extreme_condition_type":"dusty"}

[0049] {"timestamp":"2024-07-25T00:00:06Z","descent_speed":0.95,"altitude":950,"attitude_angle":-9.5,"temperature":-71,"pressure":6.5,"wind_speed":4.5,"extreme_condition_type":"dusty"}

[0050] {"timestamp":"2024-07-25T00:00:07Z","descent_speed":0.9,"altitude":900,"attitude_angle":-9.0,"temperature":-72,"pressure":7,"wind_speed":4,"extreme_condition_type":"dusty"}

[0051] {"timestamp":"2024-07-25T00:00:08Z","descent_speed":0.85,"altitude":850,"attitude_angle":-8.5,"temperature":-73,"pressure":7.5,"wind_speed":3.5,"extreme_condition_type":"dusty"}

[0052] {"timestamp":"2024-07-25T00:00:09Z","descent_speed":0.8,"altitude":800,"attitude_angle":-8.0,"temperature":-74,"pressure":8,"wind_speed":3,"extreme_condition_type":"dusty"}

[0053] {"timestamp":"2024-07-25T00:00:10Z","descent_speed":0.75,"altitude":750,"attitude_angle":-7.5,"temperature":-75,"pressure":8.5,"wind_speed":2.5,"extreme_condition_type":"dusty"}

[0054] {"timestamp":"2024-07-25T00:00:11Z","descent_speed":0.7,"altitude":700,"attitude_angle":-7.0,"temperature":-76,"pressure":9,"wind_speed":2,"extreme_condition_type":"dusty"}

[0055] {"timestamp":"2024-07-25T00:00:12Z","descent_speed":0.65,"altitude":650,"attitude_angle":-6.5,"temperature":-77,"pressure":9.5,"wind_speed":1.5,"extreme_condition_type":"dusty"}

[0056] {"timestamp":"2024-07-25T00:00:13Z","descent_speed":0.6,"altitude":600,"attitude_angle":-6.0,"temperature":-78,"pressure":10,"wind_speed":1,"extreme_condition_type":"dusty"}

[0057] S140. Determine the position information of the planetary exploration vehicle in the virtual planetary environment and obtain predicted driving actions according to the scene status displayed on the helmet display; and perform driving behavior evaluation on the driver's driving actions based on the predicted driving actions.

[0058] The predicted driving action is obtained by a motion trajectory prediction model based on MLP-LSTM. The training method of the motion trajectory prediction model based on MLP-LSTM includes, S141, obtaining a data set of planetary exploration vehicle motion data; the planetary exploration vehicle motion data is the operation data corresponding to the operation stage of each planetary exploration vehicle; the selected data is normalized to reduce the difference between data of different dimensions, and the processed motion parameter units are unified into "UNIT" units.

[0059] S142, using the data set of the planetary rover motion data to train the motion trajectory prediction model based on MLP-LSTM; according to the gradient calculated by the loss function, the weights and biases of the motion trajectory prediction model based on MLP-LSTM are updated through the back propagation algorithm. When constructing the MLP-LSTM combined model for motion trajectory prediction, the number of hidden layers of MLP and the number of time steps of LSTM are tested respectively, and the optimal network structure is determined by comparing the prediction effects. The weights and biases may include the number of hidden layers in MLP, the time step in LSTM, the batch size, the initial learning rate, and the regularization parameter.

[0060] S143. Optimize and calculate the weights and biases in the motion trajectory prediction model based on MLP-LSTM and update them through a particle swarm optimization algorithm to obtain a trained motion trajectory prediction model based on MLP-LSTM; wherein the position and velocity updates of the particles are adjusted according to the individual optimal and global optimal solutions.

[0061] Specifically, the particle swarm optimization algorithm is implemented by the following formula:

[0062]

[0063] in, is the speed of detector i at the t+1th iteration, is the position of detector i at the tth iteration, is the current optimal position of particle i, g t is the global optimal position, r1, r2 are random numbers between [0,1], w is the inertia weight, c1, c2 are learning factors.

[0064] In addition, w is the inertia weight realized by the following formula:

[0065]

[0066] Among them, w max and w min are the maximum and minimum values ​​of the inertia weight, t is the current iteration number, T iter is the maximum number of iterations.

[0067] In addition, after the predicted driving action is obtained, the driving behavior of the driver is evaluated based on the predicted driving action, which can be achieved through a fuzzy evaluation model, a convolutional neural network (CNN), a multimodal data fusion algorithm, a nonlinear model with prominent influencing factors, etc.

[0068] In summary, the power simulation method of the planetary exploration vehicle of the present invention allows scientific researchers to intuitively observe every subtle movement of the probe, providing an intuitive basis for optimizing the design. By constructing a virtual test environment, scientific researchers are allowed to conduct multiple landing tests under risk-free and low-cost conditions. This method not only ensures the safety of scientific researchers and equipment, but also greatly shortens the research and development cycle and improves research and development efficiency. By real-time collection and recording of a large amount of data during the landing process, including key indicators such as attitude, speed, acceleration, and force conditions, a rich and detailed data source is provided for scientific researchers. These data not only help scientific researchers to understand the landing process more deeply, but also provide strong support for subsequent optimization and improvement.

[0069] By using advanced virtual simulation technology, a simulation environment for real-time interaction by operators is constructed. This environment uses parametric terrain modeling technology to accurately simulate the environmental characteristics of different planets, providing strong support for the dynamic and kinematic simulation verification of planetary exploration vehicles, and significantly improving the efficiency of exploration vehicle driving technology training. The present invention adjusts the parameters of the preset original power simulation model according to the unique environmental three-dimensional model of each planet and the characteristics of the detection equipment at different operating stages, and optimizes and generates power simulation models and visualization models suitable for each planet. Compared with the traditional method of independently establishing a visualization model for each planet, the present invention greatly reduces the modeling workload and reduces costs, while improving the efficiency and practicality of the simulation.

[0070] like Figure 2 As shown, the present invention provides a power simulation system 200 for a planetary exploration vehicle, which can be installed in an electronic device. According to the functions to be implemented, the power simulation system 200 for a planetary exploration vehicle can include a planetary environment building module 210, a planetary simulation model building module 220, a display module 230 and an interaction module 240. The unit of the present invention can also be referred to as a module, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0071] In this embodiment, the functions of each module / unit are as follows:

[0072] In order to solve the above problems, the present invention also provides a planetary exploration rover power simulation system, which is used to perform the planetary exploration rover power simulation using the above planetary exploration rover power simulation method. The system includes a planetary environment building module 210, which is used to establish a three-dimensional planetary environment model corresponding to each planet based on the environmental characteristic data of each planet; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics;

[0073] The planetary simulation model building module 220 is used to adjust parameters in a preset original power simulation model based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle to obtain a power simulation model and a visualization model corresponding to each planet; wherein the original power simulation model is established by driving data obtained by the hardware driving device of the planetary exploration vehicle;

[0074] The display module 230 is used to integrate the power simulation model of each planet with the corresponding visualization model, and then render and simulate it; and display the simulated scene state on the helmet display of the planet exploration vehicle;

[0075] The interaction module 240 is used to determine the position information of the planetary exploration vehicle in the virtual planetary environment and obtain the predicted driving action according to the scene status displayed by the helmet display; and evaluate the driving behavior of the driver based on the predicted driving action.

[0076] The power simulation system 200 of the planetary exploration vehicle of the present invention uses advanced virtual simulation technology to construct a simulation environment for real-time interaction by the operator. The environment uses parametric terrain modeling technology to accurately simulate the environmental characteristics of different planets, providing strong support for the dynamic and kinematic simulation verification of the planetary exploration vehicle, and significantly improving the efficiency of the exploration vehicle driving technology training. The present invention adjusts the parameters of the preset original power simulation model according to the environmental three-dimensional model unique to each planet and the characteristics of the detection equipment at different operating stages, and optimizes and generates power simulation models and visualization models suitable for each planet. Compared with the traditional method of independently establishing a visualization model for each planet, the present invention greatly reduces the modeling workload and reduces costs, while improving the efficiency and practicality of the simulation.

[0077] like Figure 3 As shown, the present invention also provides an electronic device 3 for a power simulation method of a planetary exploration vehicle.

[0078] The electronic device 3 may include a processor 30, a memory 31 and a bus, and may also include a computer program stored in the memory 31 and run on the processor 30, such as a power simulation program 32 of a planetary exploration vehicle. The memory 31 may also include both an internal storage unit of the power simulation system of the planetary exploration vehicle and an external storage device. The memory 31 may be used not only to store the code installed in the application software and various data, such as the power simulation program of the planetary exploration vehicle, but also to temporarily store the data that has been output or is to be output.

[0079] The memory 31 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. The memory 31 may be an internal storage unit of the electronic device 3 in some embodiments, such as a mobile hard disk of the electronic device 3. The memory 31 may also be an external storage device of the electronic device 3 in other embodiments, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 3. Further, the memory 41 may also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 31 may not only be used to store application software and various types of data installed in the electronic device 3, such as the code of the power simulation program of the planetary exploration vehicle, but also be used to temporarily store data that has been output or is to be output.

[0080] The processor 30 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips, etc. The processor 30 is the control core (Control Unit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules (such as a power simulation program of a planetary exploration vehicle, etc.) stored in the memory 31, and calls data stored in the memory 31 to execute various functions of the electronic device 3 and process data.

[0081] The bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The bus is configured to realize connection and communication between the memory 31 and at least one processor 30, etc.

[0082] Figure 3 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 3The structure shown does not constitute a limitation on the electronic device 3, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0083] For example, although not shown, the electronic device 3 may also include a power source (such as a battery) for supplying power to each component. Preferably, the power source may be logically connected to the at least one processor 30 through a power management system, so that the power management system can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators. The electronic device 3 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0084] Furthermore, the electronic device 3 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 3 and other electronic devices.

[0085] Optionally, the electronic device 3 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 3 and to display a visual user interface.

[0086] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0087] The power simulation program 32 of the planetary exploration vehicle stored in the memory 31 in the electronic device 3 is a combination of multiple instructions. When running in the processor 30, it can achieve: S110, based on the environmental characteristic data of each planet, establish a three-dimensional model of the planetary environment corresponding to each planet; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics; S120, based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle, adjust parameters in the preset original power simulation model to obtain the power simulation model and visualization model corresponding to each planet; wherein the original power simulation model is established by the driving data obtained by the hardware driving device of the planetary exploration vehicle; S130, after integrating the power simulation model of each planet with the corresponding visualization model, render and simulate; and display the simulated scene state on the helmet display of the planetary exploration vehicle; S140, according to the scene state displayed on the helmet display, determine the position information of the planetary exploration vehicle in the virtual planetary environment and obtain the predicted driving action; based on the predicted driving action, evaluate the driving behavior of the driver.

[0088] Specifically, the specific implementation method of the processor 30 for the above instructions can refer to Figure 1 The description of the relevant steps in the corresponding embodiment is not repeated here. Further, if the module / unit integrated in the electronic device 3 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable medium may include: any entity or system capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0089] The embodiment of the present invention also provides a computer-readable storage medium, which can be non-volatile or volatile, and stores a computer program. When the computer program is executed by a processor, the following is achieved: S110, based on the environmental characteristic data of each planet, a three-dimensional model of the planetary environment corresponding to each planet is established; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics; S120, based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle, parameters are adjusted in a preset original power simulation model to obtain a power simulation model and a visualization model corresponding to each planet; wherein the original power simulation model is established based on driving data obtained by the hardware driving device of the planetary exploration vehicle; S130, after integrating the power simulation model of each planet with the corresponding visualization model, rendering and simulation are performed; and the simulated scene state is displayed on the helmet display of the planetary exploration vehicle; S140, according to the scene state displayed on the helmet display, the position information of the planetary exploration vehicle in the virtual planetary environment is determined and the predicted driving action is obtained; based on the predicted driving action, the driving behavior of the driver is evaluated.

[0090] Specifically, the specific implementation method when the computer program is executed by the processor can refer to the description of the relevant steps in the power simulation method of the planetary exploration vehicle in the embodiment, and will not be repeated here.

[0091] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0092] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0094] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0095] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0096] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or systems stated in a system claim can also be implemented by one unit or system through software or hardware. Secondary words are used to indicate names, but not to indicate any particular order.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A method for simulating the power of a planetary exploration vehicle, characterized in that: include: Based on the environmental characteristic data of each planet, a three-dimensional model of the planetary environment corresponding to each planet is established; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics; Based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle, the parameters are adjusted in the preset original power simulation model to obtain the power simulation model and the visualization model corresponding to each planet; wherein the original power simulation model is established by the driving data obtained by the hardware driving device of the planetary exploration vehicle; After integrating the power simulation models of the various planets with the corresponding visualization models, rendering and simulation are performed; and the simulated scene status is displayed on the helmet display of the planet exploration vehicle; According to the scene status displayed on the helmet display, the position information of the planetary exploration vehicle in the virtual planetary environment is determined and the predicted driving action is obtained; and the driving action of the driver is evaluated based on the predicted driving action.

2. The method for simulating the power of a planetary exploration vehicle according to claim 1, characterized in that: The hardware driving equipment of the planetary exploration vehicle includes a steering wheel, an accelerator pedal and a brake pedal.

3. The method for simulating the power of a planetary exploration vehicle according to claim 1, characterized in that: The three-dimensional model of the planet environment corresponding to each planet is obtained through the PhysX engine.

4. The method for simulating the power of a planetary exploration vehicle according to claim 1, characterized in that: The operation phases of the planetary exploration vehicle include a launch into orbit flight phase, a geostrophic planetary flight phase, a near-planetary braking flight phase, a planetary circumnavigation flight phase and a landing and descent flight phase.

5. The method for simulating the power of a planetary exploration vehicle according to claim 1, characterized in that: The predicted driving action is obtained through a motion trajectory prediction model based on MLP-LSTM.

6. The method for simulating the power of a planetary exploration vehicle according to claim 5, characterized in that: The training method of the motion trajectory prediction model based on MLP-LSTM includes: Acquire a data set of planetary exploration rover motion data; the planetary exploration rover motion data is operation data corresponding to each planetary exploration rover operation phase; Using the data set of the planetary rover motion data to train a motion trajectory prediction model based on MLP-LSTM; updating the weights and biases of the motion trajectory prediction model based on MLP-LSTM through a back propagation algorithm according to the gradient calculated by the loss function; The weights and biases in the motion trajectory prediction model based on MLP-LSTM are optimized and calculated and updated by a particle swarm optimization algorithm to obtain a trained motion trajectory prediction model based on MLP-LSTM; wherein the position and velocity updates of the particles are adjusted according to the individual optimal and global optimal solutions.

7. The method for simulating the power of a planetary exploration vehicle according to claim 1, characterized in that: The extreme weather features include periodic sandstorms, extreme temperature differences between day and night, liquid methane lakes, sulfuric acid clouds, and ice evaporation to form coma and comet tails.

8. A power simulation system for a planetary exploration vehicle, characterized in that: The system is used for performing power simulation of a planetary exploration rover using the power simulation method of a planetary exploration rover as claimed in any one of claims 1 to 7, and comprises: A planet environment building module is used to build a three-dimensional planet environment model corresponding to each planet based on the environmental characteristic data of each planet; wherein the environmental characteristic data includes climate characteristics, extreme weather characteristics, temperature range characteristics, wind speed characteristics and atmospheric pressure characteristics; A planetary simulation model building module is used to adjust parameters in a preset original power simulation model based on the three-dimensional model of the planetary environment corresponding to each planet and the operation stage of the planetary exploration vehicle to obtain a power simulation model and a visualization model corresponding to each planet; wherein the original power simulation model is established by driving data obtained by the hardware driving device of the planetary exploration vehicle; A display module is used to integrate the power simulation model of each planet with the corresponding visualization model, and then render and simulate it; and display the simulated scene status on the helmet display of the planet exploration vehicle; The interactive module is used to determine the position information of the planetary exploration vehicle in the virtual planetary environment and obtain the predicted driving action according to the scene status displayed by the helmet display; and to evaluate the driving action of the driver based on the predicted driving action.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps in the power simulation method of a planetary exploration rover as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the power simulation method for a planetary exploration vehicle as described in any one of claims 1 to 7 is implemented.

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