Regulation system for calculating digital ammunition damage effect
By using 3D scene reconstruction and ballistic algorithms, combined with a digital twin environment and robotic targets, the system achieves realism and effectiveness in adversarial exercises, solves the problems of obstacle penetration and high cost in laser combat training, and improves the accuracy of hit accuracy and damage assessment.
Patent Information
- Application Number
- CN202311630664.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-01
- Publication Date
- 2026-04-17
AI Technical Summary
In existing military exercises and training, laser countermeasures training cannot penetrate obstacles and is costly. Target devices with countermeasure capabilities are easily damaged, making it impossible to achieve realistic and effective countermeasures training.
By employing a digital twin environment that recreates a 3D scene, combined with ballistic algorithms and damage rating rules, and simulating combat with robotic targets, the system calculates hit and damage effects in real time. It also utilizes the BeiDou differential system for positioning and communication, thereby ensuring the realism and effectiveness of the combat exercises.
It improved the realism and effectiveness of the combat exercises, solved the problem that laser shooting could not penetrate obstacles, reduced costs, and improved hit accuracy and damage assessment accuracy.
Smart Images
Figure CN121876740A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of military exercise and training technology, and specifically relates to an adjudication system for calculating the damage effects of digital munitions. Background Technology
[0002] Military exercises and training are a very important part of military force building. Through exercises and training, the military can better adapt to complex battlefield environments, improve joint combat capabilities and tactical skills, and test and improve the military combat readiness system, including command system, logistics support system, communication system and other aspects, through combat simulation.
[0003] Currently, there are two methods to achieve adversarial training. One is laser adversarial training, which has the disadvantage that live ammunition cannot be brought into adversarial training, and the size of the laser spot greatly limits the accuracy of the hit; and it cannot avoid the problem of penetrating obstacles. The other is a target with adversarial capabilities. At present, most targets that can achieve adversarial capabilities require the addition of many devices, such as laser emitters, sensors, cameras, etc., which are costly and easily damaged within the range of the projectile. Summary of the Invention
[0004] The purpose of this invention is to provide an adjudication system for calculating the damage effects of digital munitions. It adopts a digital twin environment that recreates a three-dimensional scene, and can calculate data such as ballistics, damage conditions, and collision information in combat exercises, thereby enhancing the realism and effectiveness of combat exercises.
[0005] The specific technical solution adopted by this invention is as follows:
[0006] An adjudication system for calculating the damage effects of digital ammunition, the adjudication system comprising:
[0007] 3D scene reconstruction is used to set up a digital twin environment for actual combat training, and to update changing battlefield elements in real time, including elements that affect the combat training.
[0008] The first communication module is used for data interaction with various clients;
[0009] Collision calculation, after obtaining the actual trajectory based on the ballistic algorithm, combines the character's position, obstacles, and occlusion in the digital twin battlefield environment to calculate the hit result;
[0010] Damage rating is determined based on the location of the impact and the damage assessment rules configured within the system.
[0011] Robotic targets serve as adversarial targets in actual combat training environments;
[0012] The robotic target also includes:
[0013] Positioning device, combined with the BeiDou differential system, is used for positioning;
[0014] The second communication module is used to interact with the client and upload location, hit point, and attitude information, while also receiving differential commands, motion commands, and attitude transformation commands.
[0015] The mobility module is used to simulate the movement of combat personnel.
[0016] The target reporting module uploads the hit location to the client after the target is hit.
[0017] The target client is used to control the target's movement and attack.
[0018] In the three-dimensional scene reconstruction, the elements affecting the confrontation exercise include personnel, equipment, weapons, obstacles, fortifications, and facilities.
[0019] The adjudication system is connected to each terminal system and is used to receive position, attitude data, attack data, and target hit information uploaded by each terminal.
[0020] When an adversary generates attack data, the adjudication system analyzes the shooting posture, weapon angle, weapon type, and ammunition type in the attack data. Based on the weapon ballistic algorithm, it reconstructs the trajectory in the 3D scene, combines the target's position and obstacle conditions, and uploads the hit location to the adjudication system to calculate the hit result.
[0021] When calculating obstacle situations, the penetrability and impenetrability of obstacles must be included in the analysis scope of the adjudication system.
[0022] The adjudication system queries the cumulative hit count since the last resurrection of the hit target, adds it to the current hit count, and obtains the latest cumulative hit count.
[0023] Calculate and obtain the damage level by combining the damage hit rules.
[0024] The target client is a 3D scene reconstruction system with the target robot as the first-person perspective, used to control the target to stand up and lie down;
[0025] The mobility module is used to control the target robot to move forward, backward, turn, unlock, and lock, and to control digital ammunition to strike the enemy. It can also display the location, number, and body part of the target robot that is hit.
[0026] Once the target robot is hit, the adjudication process is as follows:
[0027] a. The hit location is uploaded to the client via the target reporting module and displayed on the client interface;
[0028] b. Simultaneously, the hit data is uploaded to the adjudication system, which calculates the damage level and then uploads the damage results to the command and control system and the client.
[0029] c. After receiving the damage results, the client implements corresponding target control commands based on the damage level and sends them to the target robot.
[0030] The target control command operation process is as follows:
[0031] A. The client maintains a communication connection with the adjudication system and waits for the adjudication system to return the damage result;
[0032] B. After obtaining the damage result, determine the level of damage. If the target is dead, send a lock-on and knockdown command to the target. The client interface also enters lock mode and no further operations can be performed.
[0033] C. If the target is not dead, normal observation and attack can be carried out.
[0034] The normal observation and attack process for the client is as follows:
[0035] A1. The client's 3D scene observation perspective can be freely adjusted. Based on the observation results, the operator sends control commands to the motion module to adjust the target's position and attitude.
[0036] A2. After the control command is successfully executed, the corresponding client interface will synchronously update the current character's posture and position;
[0037] A3. The client interface allows you to control the switching of the scope and sights, and then perform the shooting operation after aiming at the target;
[0038] A4. The client sends the shooter's posture, position, and weapon angle information to the adjudication system, which then calculates the hit result.
[0039] A5. After receiving the hit result, the client will display the hit result on the client screen.
[0040] The technical effects achieved by this invention are as follows:
[0041] The present invention provides an adjudication system for calculating the damage effect of digital munitions. This system employs a digital twin environment that recreates a three-dimensional scene. It can update scene information in real time according to changes in the battlefield. At the same time, the client maintains a communication connection with the adjudication system, and can upload data information from the combat exercise to the adjudication system and the client in real time. This data is used to analyze the hit damage level, the dynamics of the robot target, and the changes in obstacles and various battlefield elements in the combat exercise. This effectively solves the problem that current laser shooting methods cannot penetrate obstacles, thus improving the effectiveness of combat exercises. Attached Figure Description
[0042] Figure 1 This is a flowchart of the main program of an embodiment of the present invention;
[0043] Figure 2 This is a flowchart of the adjudication system of an embodiment of the present invention;
[0044] Figure 3 This is a flowchart of the damage calculation process according to an embodiment of the present invention;
[0045] Figure 4 This is the main program flowchart of the robot target in an embodiment of the present invention;
[0046] Figure 5 This is a flowchart illustrating the computation of the robot target hit signal according to an embodiment of the present invention;
[0047] Figure 6 This is a flowchart illustrating the calculation of the robot target hit result in an embodiment of the present invention;
[0048] Figure 7 This is a schematic diagram of a linear ballistic trajectory according to an embodiment of the present invention;
[0049] Figure 8 This is a schematic diagram of the parabolic trajectory according to an embodiment of the present invention. Detailed Implementation
[0050] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.
[0051] like Figures 1-8 As shown, an adjudication system for calculating the damage effect of digital ammunition is provided. The adjudication system includes:
[0052] 3D scene reconstruction is used to set up a digital twin environment for actual combat training, and to update changing battlefield elements in real time, including elements that affect the combat training.
[0053] The first communication module is used for data interaction with various clients;
[0054] Collision calculation, after obtaining the actual trajectory based on the ballistic algorithm, combines the character's position, obstacles, and occlusion in the digital twin battlefield environment to calculate the hit result;
[0055] Specifically, the ballistic collision algorithm and the rules for determining occlusion and penetration:
[0056] Ballistic collision algorithm
[0057] The system has two types of trajectories: a straight trajectory and a parabolic trajectory.
[0058] Straight trajectory:
[0059] like Figure 7 As shown, without considering the effects of gravity and air resistance, the bullet's trajectory is a straight line.
[0060] The analysis is shown in the following figure:
[0061] Although flying in 3D space, when the cannon hits, the point of impact, the cannon's position, and the aircraft's initial position all lie on a triangle. Within this triangle, the aircraft's initial position P and the cannon's position T are fixed, as is the aircraft's flight direction, so angle θ is known, and the length of D is also known. While the lengths of F and G are unknown, the time t elapsed when they meet at the point of impact H is the same for both. Therefore, the ratio of F / G is actually equal to the ratio of their velocities, and both velocities are known. Thus, the cosine formula can be used to solve this problem of finding the side lengths.
[0062] G 2 =D 2 +F 2 -2DFcosθ
[0063]
[0064]
[0065] Then V p and V g These represent the speed of the aircraft and the speed of the projectile, respectively.
[0066]
[0067]
[0068] Parabolic trajectory:
[0069] like Figure 8 As shown, considering the influence of gravity, the trajectory of the projectile is a parabolic equation, while the target is still moving in uniform linear motion in 3D space, which is a spatial linear equation.
[0070] Given a curve equation and a straight line equation, find a common solution (intersection) with an implicit parameter t (flight time). Establish a system of equations:
[0071]
[0072] Where Vp and Vg represent the flight velocities of the aircraft and projectile, respectively, and t is the flight time. This is a nonhomogeneous nonlinear implicit differential equation system, which can be solved using conventional iterative approximation.
[0073] The iterative process is roughly as follows:
[0074] 1. Substitute a set of predicted x and y coordinates into the parabola equation;
[0075] 2. Calculate the launch angle and flight time t;
[0076] 3. Substitute time t into the equation of the line to find the corresponding x and y coordinates;
[0077] 4. Compare this coordinate with the previously guessed x and y coordinates. If the difference is less than the allowable error, the iteration ends and the result is returned.
[0078] 5. If the difference is greater than the error, use this new x and y as the predicted x and y for the next calculation, and return to step 1.
[0079] The physical meaning of this process can be understood as follows: aim at the target's current position and fire. By the time the shell arrives, the target has already moved a certain distance. Multiply the shell's flight time by the target's speed to get the target's actual position at that moment. Next time you aim at this position, you calculate again. Because the target has changed, the shell's flight time has also changed, so the target's position at that moment is also different. This process continues in a loop, with the shell's landing point chasing the target's position until the difference between the two becomes infinitesimal.
[0080] Substituting t into the equation of the parabola, we get:
[0081]
[0082] Then, using basic algebraic methods for derivation and simplification, and finally using the general quadratic formula, we obtain:
[0083]
[0084] In this way, the angle θ can be calculated using the predicted landing point coordinates, the initial velocity of the projectile, and the gravitational acceleration g.
[0085] With one equation for the trajectory of a projectile, one equation for the trajectory of a target, and an iterative function, the problem of calculating the impact of a parabolic trajectory on a straight, uniformly moving target can be solved. In practical applications, a hit point can be calculated using Method 1 (straight trajectory) and used as the initial prediction point for iteration, which can reduce the number of iterations.
[0086] For aircraft flying within a range of several kilometers at speeds of 300-700 km / h, artillery shells with muzzle velocities of 500 m / s (World War II level, in fact, the muzzle velocities of anti-aircraft guns are much higher), and with an accuracy of less than 10 meters, the target can generally be achieved within four iterations.
[0087] Calculation of more complex factors:
[0088] In reality, there may be even more factors at play. For example, the target may not be moving at a uniform linear velocity but rather accelerating or curvilinear motion; air resistance may affect the trajectory; the projectile's center of mass may not be at its geometric center, resulting in a deflection moment due to the angle between the projectile and gravity or spatial resistance; and the projectile may be firing at a moving target from a moving platform. Furthermore, the projectile's launch point is measured from the muzzle, and with a rotating turret and barrel, this launch point is actually a spherical trajectory rather than a fixed point. In the time it takes for the artillery to detect the target and for the muzzle to rotate to the appropriate position, the target may have shifted, so the lead time for the turret rotation must also be calculated. All these complex problems can actually be solved by solving a system of simultaneous equations iteratively; the principle is exactly the same, only the computational complexity is greatly increased.
[0089] Considering air resistance and other factors, the trajectory equation of a projectile would take this form:
[0090]
[0091] Damage rating is determined based on the location of the impact and the damage assessment rules configured within the system.
[0092] Robotic targets serve as adversarial targets in actual combat training environments;
[0093] Robot targets also include:
[0094] Positioning device, combined with the BeiDou differential system, is used for positioning;
[0095] The second communication module is used to interact with the client and upload location, hit point, and attitude information, while also receiving differential commands, motion commands, and attitude transformation commands.
[0096] The mobility module is used to simulate the movement of combat personnel.
[0097] The target reporting module uploads the hit location to the client after the target is hit.
[0098] The target client is used to control the target's movement and attack.
[0099] In the 3D scene reconstruction, the elements affecting the combat exercise include personnel, equipment, weapons, obstacles, fortifications, and facilities.
[0100] like Figure 2 As shown, the adjudication system is connected to each terminal system to receive location, attitude data, attack data, and target hit information uploaded by each terminal.
[0101] like Figure 3As shown, when an adversary generates attack data, the adjudication system analyzes the shooting posture, weapon angle, weapon type, and ammunition type in the attack data. Based on the weapon ballistic algorithm, it reconstructs the trajectory in the three-dimensional scene, combines the target's position and obstacle conditions, and uploads the hit location to the adjudication system to calculate the hit result.
[0102] When calculating obstacle situations, the penetrability and impenetrability of obstacles must be included in the analysis scope of the adjudication system.
[0103] Specifically, the rules for determining occlusion and penetration are as follows:
[0104] The system has a variety of pre-set bunkers, obstacles, terrain features, and landforms that can obscure ballistics; the system requires the pre-entry of a set of targets that weapons and ammunition can penetrate.
[0105] Damage rule configuration:
[0106] The rules for firearm damage are as follows:
[0107] Not injured: Injury weight 0;
[0108] Minor injury: weight range (0, q1);
[0109] Slander: Weight range (q1, q2);
[0110] Serious injury: weight range (q2, q3);
[0111] Death: Weight range (q3, ∞);
[0112] After part x1 is hit for the nth time, the injury weight is
[0113] Personnel injury weight
[0114] pq, the injury weight for each injury, n, the number of hits to the affected body part x1, p n The injury coefficient for the nth injury, iq, the initial weight of the injury site, mq, the maximum weight of the injury site, and k, the number of injured sites.
[0115] The range of weights to which rq belongs is the final damage level.
[0116] The adjudication system queries the cumulative hit count since the last resurrection of the target, adds it to the current hit count, and obtains the latest cumulative hit count.
[0117] Calculate and obtain the damage level by combining the damage hit rules.
[0118] The target client is a 3D scene reconstruction system with the target robot as the first-person perspective, used to control the target to stand up and lie down;
[0119] The mobility module is used to control the target robot to move forward, backward, turn, unlock, and lock, and to control digital ammunition to strike the enemy. It can also display the location, number, and body part of the target robot that is hit.
[0120] like Figure 5 and Figure 6 As shown, the decision-making steps after the target robot is hit are as follows:
[0121] a. The hit location is uploaded to the client via the target reporting module and displayed on the client interface;
[0122] b. Simultaneously, the hit data is uploaded to the adjudication system, which calculates the damage level and then uploads the damage results to the command and control system and the client.
[0123] c. After receiving the damage results, the client implements corresponding target control commands based on the damage level and sends them to the target robot.
[0124] The target control command operation procedure is as follows:
[0125] A. The client maintains a communication connection with the adjudication system and waits for the adjudication system to return the damage result;
[0126] B. After obtaining the damage result, determine the level of damage. If the target is dead, send a lock-on and knockdown command to the target. The client interface also enters lock mode and no further operations can be performed.
[0127] C. If the target is not dead, normal observation and attack can be carried out.
[0128] The normal observation and attack process on the client side is as follows:
[0129] A1. The client's 3D scene observation perspective can be freely adjusted. Based on the observation results, the operator sends control commands to the motion module to adjust the target's position and attitude.
[0130] A2. After the control command is successfully executed, the corresponding client interface will synchronously update the current character's posture and position;
[0131] A3. The client interface allows you to control the switching of the scope and sights, and then perform the shooting operation after aiming at the target;
[0132] A4. The client sends the shooter's posture, position, and weapon angle information to the adjudication system, which then calculates the hit result.
[0133] A5. After receiving the hit result, the client will display the hit result on the client screen.
[0134] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.
Claims
1. A judgment system for calculating the damage effect of digital ammunition, characterized in that: The adjudication system includes: 3D scene reconstruction is used to set up a digital twin environment for actual combat training, and to update changing battlefield elements in real time, including elements that affect the combat training. The first communication module is used for data interaction with various clients; Collision calculation, after obtaining the actual trajectory based on the ballistic algorithm, combines the character's position, obstacles, and occlusion in the digital twin battlefield environment to calculate the hit result; Damage rating is determined based on the location of the impact and the damage assessment rules configured within the system. Robotic targets serve as adversarial targets in actual combat training environments; The robotic target also includes: Positioning device, combined with the BeiDou differential system, is used for positioning; The second communication module is used to interact with the client and upload location, hit point, and attitude information, while also receiving differential commands, motion commands, and attitude transformation commands. The mobility module is used to simulate the movement of combat personnel. The target reporting module uploads the hit location to the client after the target is hit. The target client is used to control the target's movement and attack.
2. The adjudication system for calculating digital ammunition damage effects according to claim 1, characterized in that: The collision calculation includes both linear and parabolic trajectories. The linear ballistic collision calculation is performed using the cosine formula: G 2 =D 2 +F 2 -2DFcos0 Among them, V p and V g These represent the target's speed and the projectile's flight speed, respectively. The parabolic trajectory can be represented by a parabolic equation, and the uniform linear motion of the target in 3D space can be represented by a spatial linear equation. The system of equations consists of one equation for a curve and one equation for a straight line: Where Vp and Vg represent the target and projectile velocities respectively, and t is the flight time; Substituting t into the equation of the parabola, we get: We derive and simplify using basic algebraic methods, and then obtain the result using the general quadratic formula: The angle θ can be calculated using the predicted landing point coordinates, the initial velocity of the projectile, and the gravitational acceleration g.
3. The adjudication system for calculating digital ammunition damage effects according to claim 1, characterized in that: The adjudication system is connected to each terminal system and is used to receive position, attitude data, attack data, and target hit information uploaded by each terminal. When an adversary generates attack data, the adjudication system analyzes the shooting posture, weapon angle, weapon type, and ammunition type in the attack data. Based on the weapon ballistic algorithm, it reconstructs the trajectory in the 3D scene, combines the target's position and obstacle conditions, and uploads the hit location to the adjudication system to calculate the hit result.
4. The adjudication system for calculating digital ammunition damage effects according to claim 3, characterized in that: When calculating obstacle situations, the penetrability and impenetrability of obstacles must be included in the analysis scope of the adjudication system.
5. The adjudication system for calculating digital ammunition damage effects according to claim 1, characterized in that: The adjudication system queries the cumulative hit count since the last resurrection of the hit target, adds it to the current hit count, and obtains the latest cumulative hit count. Calculate and obtain the damage level by combining the damage hit rules.
6. The adjudication system for calculating digital ammunition damage effects according to claim 1, characterized in that: The target client is a 3D scene reconstruction system with the target robot as the first-person perspective, used to control the target to stand up and lie down; The mobility module is used to control the target robot to move forward, backward, turn, unlock, and lock, and to control digital ammunition to strike the enemy. It can also display the location, number, and body part of the target robot that is hit.
7. The adjudication system for calculating digital ammunition damage effects according to claim 1, characterized in that: Once the target robot is hit, the adjudication process is as follows: a. The hit location is uploaded to the client via the target reporting module and displayed on the client interface; b. Simultaneously, the hit data is uploaded to the adjudication system, which calculates the damage level and then uploads the damage results to the command and control system and the client. c. After receiving the damage results, the client implements corresponding target control commands based on the damage level and sends them to the target robot.
8. The adjudication system for calculating digital ammunition damage effects according to claim 7, characterized in that: The target control command operation process is as follows: A. The client maintains a communication connection with the adjudication system and waits for the adjudication system to return the damage result; B. After obtaining the damage result, determine the level of damage. If the target is dead, send a lock-on and knockdown command to the target. The client interface also enters lock mode and no further operations can be performed. C. If the target is not dead, normal observation and attack can be carried out.
9. A decision-making system for calculating digital ammunition damage effects according to claim 8, characterized in that: The normal observation and attack process for the client is as follows: A1. The client's 3D scene observation perspective can be freely adjusted. Based on the observation results, the operator sends control commands to the motion module to adjust the target's position and attitude. A2. After the control command is successfully executed, the corresponding client interface will synchronously update the current character's posture and position; A3. The client interface allows you to control the switching of the scope and sights, and then perform the shooting operation after aiming at the target; A4. The client sends the shooter's posture, position, and weapon angle information to the adjudication system, which then calculates the hit result. A5. After receiving the hit result, the client will display the hit result on the client screen.