A multimodal simulated shooting training system and method

Abstract

This invention provides a multimodal simulated shooting training system and method. The system is compatible with multiple target types and shooting training modes, and can be rapidly deployed on both mobile and fixed target drones. The system includes: establishing a communication connection between the target reporting terminal and the target surface sensing array and the invisible infrared laser emitting device to generate training configuration records and training session status; collecting target surface hit data and gun end action data and unifying the timestamps, establishing an alignment window to match the hit time and generate shooting event records; calculating the target type mapping of the spot coordinates based on the target type in the training configuration record using target type mapping rules to obtain the hit result and generate a target reporting result; generating trajectory rendering results and new and old bullet hole markings in trajectory mode; extracting action feature sets based on the shooting event records and calculating shooting deviations; and issuing a prohibition shooting command when the prohibition conditions are met.

Description

Technical Field

[0001] This invention relates to the field of simulated shooting training technology, and in particular to a multimodal simulated shooting training system and method. Background Technology

[0002] Shooting training, as a fundamental training subject in military, police, and security fields, faces challenges due to the high cost, organizational difficulties, and significant risks associated with high-frequency live-fire training. Therefore, simulated shooting training equipment is gradually being adopted to replace some live-fire training components. Existing simulated shooting training solutions are mostly centered around "target display and reporting," with common practices including using cameras to capture target images for bullet point identification, and then displaying the score or ring count on a terminal. However, these solutions have the following shortcomings: First, existing solutions often only record the "hit result," lacking correlation with process information such as trigger pull and weapon attitude changes. This makes it difficult to determine whether a hit deviation is caused by momentary trigger pull jitter, continuous aiming jitter, or equipment malfunction. Trainees can only rely on subjective experience to correct the deviation, and the correction prompts lack reproducible evidence, making it difficult to consistently improve training effectiveness. Second, the temporal consistency and event-level matching capabilities of multi-source data are insufficient. When the target hit and trigger pull are not reliably correlated in time, missed reports, false reports, or duplicate scoring are prone to occur, thus affecting the objectivity and traceability of training evaluation.

[0003] Therefore, this invention proposes a multimodal simulated shooting training system and method. The information disclosed in the background section is only for enhancing understanding of the background of this disclosure and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a multimodal simulated shooting training system and method, thereby resolving the technical problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: The first part of this invention provides a multimodal simulated shooting training method, comprising the following steps: S1. The target reporting terminal establishes and verifies the connection with the target surface sensing array and the invisible infrared laser emitting device, receives training configuration parameters, generates training configuration records, generates training session identifiers and training session status, and issues a shooting permission command when the verification is successful and the training configuration records are valid. S2. Collect target hit data and gun tip action data and unify the timestamps. Establish an alignment window to match the hit time based on the trigger pull time and generate a shooting event record with matching result flags. S3. Call the target mapping rules according to the target type recorded in the training configuration, calculate the hit result and generate the target reporting result for the light spot coordinates recorded in the shooting event. When the shooting mode is trajectory mode, generate trajectory rendering result and new and old bullet hole markings. S4. Extract action feature set based on shooting event record and calculate shooting deviation. Generate deviation cause label according to threshold set reference identifier. Update lateral correction parameter and longitudinal correction parameter to generate correction prompt and write it into training guidance strategy. S5. Based on the training session status, target connection status, gun connection status, training configuration record, action feature set and shooting event record, the prohibition condition is jointly determined. When the prohibition condition is met, a prohibition shooting command is issued and an permission change record is generated and written to the training data storage.

[0006] The second part of this invention provides a multimodal simulated shooting training system, including: a target reporting terminal, a target surface sensing array, and an invisible infrared laser emitting device; The target surface sensing array is a standard and uniformly distributed array of sensing points used to detect invisible infrared light spots and output target surface hit data. The target surface hit data includes at least the target surface sensing array device identifier, training session identifier, light spot coordinates, hit time, and hit credibility flag. The invisible infrared laser emitter is used to output gun-end action data when trigger action is detected, and to receive firing permission commands or firing prohibition commands to switch firing permission status.

[0007] The beneficial effects of this invention are as follows: This invention establishes an evaluation chain centered on shooting event records by jointly acquiring target hit data and gun-end action data, unifying timestamps, and matching events. This allows for the traceability of each trigger pull and its corresponding hit result, improving the objectivity and reproducibility of training evaluation. Based on the target mapping rules in the training configuration record, the target mapping calculation is performed on the spot coordinates to output the hit result and score. This unified approach drives bullet impact point marking, list display, and voice broadcasting, avoiding misjudgments caused by inconsistent output calibers across multiple channels.

[0008] This invention constructs an effective bullet impact sequence in trajectory mode and generates trajectory rendering results, while simultaneously generating new and old bullet hole markers. This allows for a visual representation of the stability changes during continuous shooting, providing a visual basis for training review and teaching demonstrations. Based on action feature sets and shooting deviation calculations, deviation cause labels are generated by reusing the same threshold caliber according to threshold set reference identifiers. This makes the causes of deviations explainable and quantifiable, facilitating targeted correction of problems such as momentary trigger shake, continuous aiming shake, or abnormal equipment status.

[0009] This invention generates correction prompts by updating lateral and longitudinal correction parameters and incorporates them into the training guidance strategy. This enables adaptive correction suggestions for shooting deviations, improving the real-time nature and relevance of training guidance and shortening the time it takes for trainees to reach a stable hit rate. It also jointly determines whether invalid sessions, connection anomalies, exceeding duration or frequency limits, or abnormal actions trigger a shooting ban and generates permission change records. Simultaneously, it establishes an index using the training session identifier and shooting event sequence number, writing it into the training data storage to form a fully traceable closed-loop evidence storage system encompassing "data, results, attribution, and control," enhancing the security of the training process and post-training review capabilities. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of a multimodal simulated shooting training method according to the present invention; Figure 2 This is a schematic diagram of the framework of a multimodal simulated shooting training system according to the present invention; Figure 3 This is a schematic diagram of the side-running accuracy target according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a side-body precision target according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the target at the side half of the body in an embodiment of the present invention; Figure 6 This is a schematic diagram of the head precision target according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the chest ring target according to an embodiment of the present invention. Detailed Implementation

[0011] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0012] Example 1: As Figure 1 As shown, this embodiment provides a multimodal simulated shooting training method, including the following steps: S1. The target reporting terminal establishes and verifies the connection with the target surface sensing array and the invisible infrared laser emitting device, receives training configuration parameters, generates training configuration records, generates training session identifiers and training session status, and issues a shooting permission command when the verification is successful and the training configuration records are valid. S2. Collect target hit data and gun tip action data and unify the timestamps. Establish an alignment window to match the hit time based on the trigger pull time and generate a shooting event record with matching result flags. S3. Call the target mapping rules according to the target type recorded in the training configuration, calculate the hit result and generate the target reporting result for the light spot coordinates recorded in the shooting event. When the shooting mode is trajectory mode, generate trajectory rendering result and new and old bullet hole markings. S4. Extract action feature set based on shooting event record and calculate shooting deviation. Generate deviation cause label according to threshold set reference identifier. Update lateral correction parameter and longitudinal correction parameter to generate correction prompt and write it into training guidance strategy. S5. Based on the training session status, target connection status, gun connection status, training configuration record, action feature set and shooting event record, the prohibition condition is determined. When the prohibition condition is met, a prohibition shooting command is issued and an access control change record is generated. The above record is written into the training data storage.

[0013] S1 specifically includes the following sub-steps: S110 and the target reporting terminal establish communication connections with the target surface sensing array and the invisible infrared laser emitting device, respectively. The communication connection is either wired or wireless, and the target reporting terminal is the communication master station, while the target surface sensing array and the invisible infrared laser emitting device are the communication slave stations.

[0014] After establishing a communication connection, the target reporting terminal sends a target surface heartbeat verification message to the target surface sensing array and a gun end heartbeat verification message to the invisible infrared laser emitting device. The heartbeat verification message includes at least a device identifier, a timestamp, a random number, and a check code. The device identifier is used to uniquely identify the device being verified, the timestamp is used to characterize the time the message was sent, the random number is used to make different heartbeat messages different, and the check code is used to verify the consistency of the device identifier, timestamp, and random number.

[0015] After receiving the target heartbeat verification message, the target surface sensing array generates a target surface receipt message and returns it to the target reporting terminal; after receiving the gun end heartbeat verification message, the invisible infrared laser emitting device generates a gun end receipt message and returns it to the target reporting terminal; the receipt message includes at least the device identifier, timestamp, random number and check code, so that the target reporting terminal can match and verify the receipt message with the heartbeat verification message.

[0016] The reporting terminal counts the receipt messages within a preset time window, which is the period starting from the sending of the first heartbeat verification message; in one embodiment, the preset time window is 3 seconds. The reporting terminal sends heartbeat verification messages to the same device within the preset time window. The number of valid reply messages received was then counted. Next, among them Heartbeat Send Count: Represents the number of heartbeat verification messages sent within a preset time window. This is the heartbeat receipt count, representing the number of receipt messages received and verified by the checksum within a preset time window.

[0017] The target reporting terminal generates a connectivity pass flag according to the following formula. Based on this, the target surface connection state and the gun end connection state are generated respectively: in, This is a connectivity pass flag, with a value of 1 indicating a successful connectivity check and a value of 0 indicating a failed connectivity check; when calculated on the target surface sensing array... When the target connection status is normal, the reporting terminal sets it to normal; otherwise, it sets it to abnormal. When the target connection status is calculated by the invisible infrared laser emitting device... When the target is in a normal state, the reporting terminal will set the gun end connection status to normal; otherwise, it will set it to abnormal.

[0018] In one embodiment, the target reporting terminal sends a signal to the target surface sensing array within a 3-second time window. If the next heartbeat verification message is received If the receipt is valid, then ,get The target surface connection status is normal; if only received If the receipt is valid, then ,get The target surface connection status is abnormal.

[0019] The target reporting terminal writes the target surface connection status and the gun end connection status into the connection status record. The connection status record serves as the input for determining the preconditions for creating subsequent training sessions and initializing shooting permissions.

[0020] S120: The target reporting terminal receives training configuration parameters, which include at least the target type, firing mode, and maximum training duration. and the maximum number of shots Among them, the target type is used to determine the target mapping rules, the shooting mode is used to determine the training constraints, and the upper limit of the training time is determined. Used to limit the duration of a training session and the maximum number of shots. Used to limit the number of shots allowed to be triggered within a training session.

[0021] The target reporting terminal performs a validity check on the training configuration parameters. The validity check includes at least: whether the target type belongs to the preset target type set, whether the shooting mode belongs to the preset shooting mode set, and the upper limit of training time. Maximum number of shots Does it fall within the allowed range? To ensure the verification rules are enforceable, the reporting terminal is pre-configured with: This is the lower limit of the allowed training duration. The maximum allowed training duration, The minimum number of shots allowed. This represents the maximum number of shots allowed.

[0022] The target reporting terminal generates a configuration validity flag according to the following formula. : in, To configure a validity flag, a value of 1 indicates that the training configuration parameters are valid, and a value of 0 indicates that the training configuration parameters are invalid. To ensure consistency between the firing mode and parameter constraints, the target reporting terminal further performs mode constraint verification: when the firing mode is a timed mode, at least the following requirements must be met. China regarding The inequality holds; when the firing mode is limited ammunition mode, at least the following is required. China regarding The inequality holds; when the firing mode is time-limited and ammunition-limited, the following requirements must be met. China regarding and The inequalities both hold true.

[0023] In one embodiment, let Second, Second, hair, Send; if the configuration parameters for this training are Second, If it is released, then If the configuration parameters for this training are Second, If it is caused by get .

[0024] The target reporting terminal will display the target type, shooting mode, and maximum training time. Maximum number of shots Configure legal signs The training configuration record is written with the received timestamp; the training configuration record serves as the input for subsequent target mapping calculation, precondition determination for training session creation, and initialization of shooting permissions.

[0025] S130. The target reporting terminal creates a training session when the prerequisites for creating a training session are met. The prerequisites for creating a training session include at least: the target surface connection status is normal, the gun end connection status is normal, and the configuration validity flag in the training configuration record. .

[0026] When a training session is created, the reporting terminal generates a training session identifier. The training session identifier is a string used to uniquely identify this training session and is bound to the device identifier and the creation timestamp. In one embodiment, the training session identifier is generated by concatenating "the reporting terminal device identifier + the creation timestamp + a random number" to avoid conflicts between different training sessions.

[0027] The target reporting terminal binds the training session identifier to the training configuration record, generates the training session status, and writes it to the session status record. The training session status includes at least a session creation flag and a session start flag, whereby the session creation flag indicates that the session has been created, and the session start flag indicates that the training has been allowed to enter the firing process.

[0028] When the session creation flag is true and the session start flag is set to true, the target reporting terminal issues a firing permission command to the invisible infrared laser emitter, causing the invisible infrared laser emitter to enter the firing permission state and generate an initial firing permission state. The firing permission command carries at least the training session identifier and the firing mode, so that the invisible infrared laser emitter will assign subsequent trigger events to the corresponding training session and execute them according to the corresponding firing mode.

[0029] If any of the preconditions for creating a training session are not met, the target reporting terminal will not issue a shooting permission command and will set the initial shooting permission status to a shooting prohibition status. At the same time, the reason for session creation failure will be written into the session status record. The initial shooting permission status and the session status record serve as inputs for subsequent prohibition condition judgment and permission linkage control, thereby ensuring that subsequent steps will not generate target reporting results without a valid session or valid configuration.

[0030] S2 specifically includes the following sub-steps: S210. When the training session is in the created state and the initial firing permission state is in the allowed firing state, the target surface sensing array detects the invisible infrared light spots emitted by the invisible infrared laser emitting device and outputs a target surface hit data for each detected light spot.

[0031] The target hit data includes at least: target sensor array device identifier, training session identifier, spot coordinates, hit time, and hit confidence flag; wherein, the target sensor array device identifier is used to identify the target sensor array that generated the data, the training session identifier is used to characterize the training session to which the data belongs, the spot coordinates are used to characterize the position of the spot in the target sensor array coordinate system, the hit time is used to characterize the moment the spot was detected, and the hit confidence flag is used to characterize whether the spot detection meets the validity conditions.

[0032] The target reporting terminal receives target hit data and records the hit time based on the unified time axis of the target reporting terminal. When the hit time carried in the target hit data is the local clock time of the target sensing array, the target reporting terminal converts it into the hit time under the unified time axis before writing it into the record.

[0033] The target reporting terminal performs validity screening on the target hit data: when the hit confidence flag is valid and the spot coordinates fall within the available coordinate range of the target surface sensing array, the target hit data is written into the target hit record and marked as valid; when the hit confidence flag is invalid or the spot coordinates are out of bounds, the target hit data is still written into the target hit record but marked as invalid so that it can be excluded during subsequent alignment.

[0034] In one embodiment, the available coordinate range of the target surface sensing array is defined as follows: both the lateral and longitudinal components of the spot coordinates fall between a preset minimum and a preset maximum value; when the spot coordinates exceed the range, the reporting terminal marks the target hit record as invalid and does not participate in subsequent alignment and reporting.

[0035] The S220, an invisible infrared laser emitter, monitors trigger pulls during training sessions and outputs a gun-end action data when a trigger pull is detected.

[0036] The weapon-end action data includes at least: the invisible infrared laser emitting device equipment identifier, the training session identifier, the trigger pull status, the trigger pull time, the weapon attitude change characteristics, and the weapon status information; among which, the invisible infrared laser emitting device equipment identifier is used to identify the invisible infrared laser emitting device that generates the data, the training session identifier is used to characterize the training session to which the data belongs, the trigger pull status is used to characterize the state in which the trigger pull is triggered, the trigger pull time is used to characterize the moment when the trigger pull action occurs, the weapon attitude change characteristics are used to characterize the quantitative characteristics of the change in the weapon's attitude before and after the trigger pull action, and the weapon status information is used to characterize the working state of the invisible infrared laser emitting device when the trigger pull action occurs.

[0037] The weapon attitude change characteristics are obtained by collecting attitude samples and calculating them by an invisible infrared laser emitting device during a preset sampling period before and after the trigger action is triggered; the attitude sample includes at least one of attitude angle or angular velocity, and the preset sampling period is the time period centered on the trigger time.

[0038] In one embodiment, the preset sampling period is from 200 milliseconds before the trigger pull to 200 milliseconds after the trigger pull, and the attitude sampling frequency is 50 Hz. The invisible infrared laser emitting device collects 20 attitude samples during this sampling period and calculates the weapon attitude change characteristics as "maximum attitude angle change" and "maximum angular velocity" based on the attitude samples.

[0039] The target reporting terminal receives the gun-end action data and records the trigger pull time based on the unified time axis of the target reporting terminal. When the trigger pull time carried in the gun-end action data is the local clock time of the invisible infrared laser emitter, the target reporting terminal converts it into the trigger pull time under the unified time axis before writing it into the record.

[0040] The target reporting terminal writes the gun-end action data into the gun-end action record. When the trigger pull status is invalid or the weapon status information indicates that the invisible infrared laser emitter is in a non-permitted firing state, the target reporting terminal still writes the gun-end action record but marks it as invalid for use in subsequent alignment and anomaly judgment.

[0041] S230 The target reporting terminal performs unified timestamp processing on the target hit record and the gun action record, so that the hit time in the target hit record and the trigger pull time in the gun action record are both represented as timestamps under a unified time axis; the unified time axis is the time axis corresponding to the local clock of the target reporting terminal.

[0042] The target reporting terminal establishes an alignment window based on each valid trigger pull data in the gun-end action log. The alignment window is used to limit the time range of hit data that can be matched with the trigger pull data. To make the alignment window implementable, the target reporting terminal presets an alignment window half-width. And construct the alignment window as follows : in, To align the window half-width, this represents the maximum allowable deviation in match hit time centered on the trigger pull time; The trigger pull time represents the timestamp of a single trigger pull action on a unified timeline. To align the window, it represents the time interval centered on the trigger pull time.

[0043] In one embodiment, Milliseconds; when a trigger pull occurs at 12:00:00.500, the alignment window is from 12:00:00.350 to 12:00:00.650.

[0044] The target reporting terminal searches for valid candidate hit data in the target hit records within the alignment window, and determines the hit data that matches the trigger pull data according to the nearest neighbor matching criterion, which is given by the following formula: in, To match hit time, this represents the final hit time that matches the trigger pull data; The hit time represents the timestamp of a single spot hit on a unified timeline.

[0045] The target reporting terminal generates a shooting event record according to the constraint that "one trigger pull can match at most one hit data". When there is candidate hit data in the alignment window, the target reporting terminal selects the candidate hit data corresponding to the hit time as the matched hit data, writes the spot coordinates and hit time in the matched hit data into the shooting event record, and sets the matching result flag to matched. When there is no candidate hit data in the alignment window, the target reporting terminal generates a shooting event record but does not write the spot coordinates and hit time, and sets the matching result flag to unmatched.

[0046] To prevent the same hit data from being reused, the reporting terminal marks the candidate hit data as occupied after it is selected as the matching hit data, so that it will no longer participate in the matching of subsequent trigger pull data.

[0047] The shooting event record should include at least the following: training session identifier, invisible infrared laser emitting device identifier, target surface sensing array device identifier, trigger pull status, trigger pull time, weapon attitude change characteristics, weapon status information, matching result flag, spot coordinates, and hit time; among them, when the matching result flag is not matched, the spot coordinates and hit time records are invalid values.

[0048] The target reporting terminal writes the shooting event records into the training data storage. The shooting event records serve as inputs for subsequent target mapping calculations, target reporting result generation, action cause attribution, correction parameter self-learning, and prohibition condition determination, thereby ensuring that each calculation in subsequent steps can find its data source in this output and be consumed by subsequent steps.

[0049] S3 specifically includes the following sub-steps: S310, the target reporting terminal reads the target type from the training configuration record and loads the corresponding target type mapping rule according to the target type; the target type mapping rule is a data structure used to convert the spot coordinates into the hit result, and is defined based on the target surface sensing array coordinate system.

[0050] The target mapping rules include at least the off-target boundary and the scoring rules. The off-target boundary is used to determine whether the spot coordinates fall into the effective target area. The scoring rules are used to output the ring number or location result when the spot coordinates fall into the effective target area.

[0051] In one embodiment, when the target is a ring target, the target mapping rule includes at least the target center coordinate components. , With the Ring radius threshold The threshold set; where, , For the target center coordinate components, we have the horizontal and vertical components of the target center in the target surface coordinate system. For the first The ring radius threshold represents the threshold used to determine the ring radius. Distance threshold of the ring boundary, A positive integer index representing the number of rings on the target paper (e.g.) ).

[0052] The target reporting terminal performs target mapping calculation for each shooting event record: when the matching result of the shooting event record is marked as unmatched, the target reporting terminal sets the hit result corresponding to the shooting event record as invalid hit, sets the score to zero, and generates an unmatched mark, which serves as the input for subsequent anomaly statistics and prohibition condition determination.

[0053] When the matching result of the shooting event record is marked as matched, the target reporting terminal reads the spot coordinates from the shooting event record. , First, the system determines whether the spot coordinates are within the effective target area based on the miss boundary. When the spot coordinates are not within the effective target area, the reporting terminal sets the hit result to a miss result and sets the score to zero.

[0054] When the beam coordinates are within the effective target area and the target type is a ring target, the target reporting terminal calculates the target center distance. Bullseye distance The Euclidean distance from the point of impact to the target center is calculated as follows: in, , For the coordinate components of the impact point, we have the horizontal and vertical components of the impact point in the target surface coordinate system. The distance to the bullseye.

[0055] The reporting terminal selects the threshold that meets the criteria from the threshold set. The number of rings corresponding to the minimum radius threshold is used as the ring hit result. ,in, This is the result of the number of rings hit; if any value in the threshold set... None of them meet the requirements If the hit result is set to the miss result, then the hit result will be set to the miss result.

[0056] In one embodiment, let the target center coordinates be... , The radius threshold set is: 10 rings 9 rings 8 rings The unit is millimeters; when the coordinates of the point of impact are , hour, The hit score was 10 rings; when the coordinates of the impact point were... , hour, The result of hitting the rings was 9.

[0057] When the target type is a part target, the target mapping rule includes at least a set of part regions and the part label and score value of each part region; the part regions are represented by a sequence of polygon vertices, and the reporting terminal determines the part result based on whether the spot coordinates fall inside the polygon of each part region; when the spot coordinates do not fall into any part region and fall outside the target miss boundary, the hit result is set to the miss result and the score value is set to zero.

[0058] The target reporting terminal writes the hit result and score corresponding to each shooting event record into the hit result record. The hit result record serves as the input for subsequent target reporting result generation, action cause attribution, training data storage and statistical analysis.

[0059] The S320 target reporting terminal binds the shooting event record and the hit result record to generate the target reporting result. The target reporting result includes at least: training session identifier, shooting event sequence number, matching result flag, spot coordinates, hit time, hit result, score value, and unmatched flag.

[0060] The target reporting terminal outputs bullet impact point markers on the target image based on the target reporting results. When the matching result is marked as matched, the target reporting terminal draws the bullet impact point on the target image according to the spot coordinates. When the matching result is marked as unmatched, the target reporting terminal outputs an unmatched prompt mark on the target image and does not draw the bullet impact point, so as to avoid mistakenly displaying invalid bullet impact points as valid hits.

[0061] The target reporting terminal outputs a list of hit results, which is generated from the hit result field and score value field in the target reporting results and corresponds one-to-one with the bullet impact point markings on the target image. The target reporting terminal generates voice broadcast content, which is generated from the hit result field in the target reporting results and is consistent with the hit result list to ensure that the voice broadcast, list display and image marking use the same hit result caliber.

[0062] In one embodiment, when a target report has a hit result of "9 rings" and a score of 9 points, the hit result list displays "9 rings / 9 points" and the voice broadcast outputs "Nine rings"; when a target report has a match result flag of "not matched", the hit result list displays "not matched / 0 points" and the voice broadcast outputs "not matched".

[0063] The target reporting terminal writes the target reporting results into the training data storage. The target reporting results serve as input for subsequent shooting deviation calculation, action cause attribution, self-learning of correction parameters, and determination of prohibition conditions.

[0064] S330 The target reporting terminal reads the shooting mode in the training configuration record. When the shooting mode is the trajectory mode or includes a trajectory display sub-mode, the target reporting terminal retrieves the target reporting results of the current training session under the same training session identifier and constructs a sequence of valid bullet impact points sorted by hit time. Only the spot coordinates corresponding to the target reporting results marked as matched are selected into the sequence of valid bullet impact points to avoid invalid points from participating in trajectory calculation.

[0065] The target reporting terminal records the effective impact point sequence as follows: ,in, For the first Point of impact, representing the number of impact points after sorting by occurrence time. One valid impact point coordinate; when the valid impact point sequence contains When a bullet hits a point of impact, the target reporting terminal generates a set of trajectory line segments according to the following rules. : in, For the first A line segment indicates the connection of the first line segment. Point of impact and the first The line segment or polyline unit of the impact point, where n is the total number of valid impact points in this training session (n≥2).

[0066] The target reporting terminal generates trajectory rendering results based on the effective bullet impact sequence and the set of trajectory connecting segments, and outputs the trajectory rendering results to the target image. The trajectory rendering results include at least: the effective bullet impact sequence, the set of trajectory connecting segments, and the hit time corresponding to each bullet impact, which are used for subsequent training guidance strategy generation and training data storage.

[0067] The target reporting terminal distinguishes between new and old bullet holes based on the training session identifier: when the bullet impact point comes from the target reporting result corresponding to the current training session identifier, the bullet impact point is marked as a new bullet hole; when the bullet impact point comes from the historical target reporting result that does not correspond to the current training session identifier, the bullet impact point is marked as an old bullet hole; the target reporting terminal writes the new and old bullet hole markings together with the trajectory rendering result into the training data storage.

[0068] In one embodiment, when this training session is identified as The valid bullet impact sequence within the session contains 3 bullet impact points. , , At that time, the set of line segments connecting the trajectory is and ,and , , All are marked as new bullet holes; if the target image also displays a history session identifier. If the point of impact is not specified, then that historical point of impact is marked as an old bullet hole and is not included in the trajectory connection of this session.

[0069] The target reporting terminal uses the trajectory rendering results and the new and old bullet hole markings as inputs for subsequent deviation correction prompt generation, training guidance strategy generation, and training data traceability and evidence storage, thereby ensuring that the output of this segment is consumed in subsequent steps and no useless output is generated.

[0070] S4 specifically includes the following sub-steps: S410 The target reporting terminal reads the shooting event records one by one according to the training session identifier, and only performs action cause attribution and correction parameter update for shooting event records whose matching result is marked as matched and whose hit result is not invalid hit; when the matching result is marked as unmatched or the hit result is invalid hit, the target reporting terminal only generates an unmatched anomaly count and does not perform correction parameter update to avoid invalid data affecting subsequent learning.

[0071] The target reporting terminal determines the action feature extraction window centered on the trigger pull time, and the action feature extraction window is consistent with the preset sampling period of the gun-end action data acquisition; in one embodiment, the action feature extraction window takes 200 milliseconds before the trigger pull time to 200 milliseconds after the trigger pull time.

[0072] The target reporting terminal reads weapon attitude change characteristics and weapon status information from the shooting event record and solidifies these characteristics into a set of action features. The set of action features includes at least: the peak value of the instantaneous angular velocity when the trigger is pulled, the amplitude of the attitude jitter in the front window when the trigger is pulled, the amplitude of the attitude rebound in the rear window when the trigger is pulled, and a weapon status anomaly indicator. The peak value of the instantaneous angular velocity when the trigger is pulled is used to characterize the degree of rapid jitter at the moment the trigger is pulled, the amplitude of the attitude jitter in the front window when the trigger is pulled is used to characterize the degree of continuous aiming jitter before the trigger is pulled, the amplitude of the attitude rebound in the rear window when the trigger is pulled is used to characterize the degree of rebound action after the trigger is pulled, and the weapon status anomaly indicator is used to characterize whether the invisible infrared laser emitting device is in an abnormal working state.

[0073] The target reporting terminal determines the coordinate components of the deviation reference point for shooting deviation. , When the target is a ring target, the reporting terminal uses the target center coordinate component in the target mapping rule as the deviation reference point coordinate component. , When the target type is a part target and the hit result is a part result, the reporting terminal uses the coordinate components of the center point of the part area corresponding to the part result as the coordinate components of the deviation reference point. , The coordinate components of the center point of the part are the geometric center coordinate components of the vertex sequence of the polygon in the part region.

[0074] The target reporting terminal reads the bullet impact point coordinate components from the shooting event log. , And calculate the lateral deviation according to the following formula. Longitudinal deviation and deviation modulus : in, , For the coordinate components of the impact point, we have the horizontal and vertical components of the impact point in the target surface coordinate system. , These are the coordinate components of the deviation reference point; This is the lateral deviation. For longitudinal deviation, The deviation modulus.

[0075] In one embodiment, let the coordinates of the deviation reference point be... , The coordinates of a certain impact point are , ,but , , Based on this, the target reporting terminal determines that the shot has deviation directional characteristics of "rightward deviation" and "downward deviation".

[0076] The target reporting terminal writes the action feature set and shooting deviation into the deviation analysis record, which serves as the input for subsequent deviation cause attribution, correction parameter update and abnormal threshold determination.

[0077] S420: The target reporting terminal determines a threshold set based on training configuration records. The threshold set includes at least an instantaneous jitter threshold, a continuous jitter threshold, and a rebound threshold. The threshold set is determined in association with the firing mode. Specifically, when the firing mode is a time-limited mode, the instantaneous jitter threshold is set to a smaller value to improve the sensitivity to instantaneous jitter when the trigger is pulled. When the firing mode is a limited ammunition mode, the continuous jitter threshold is set to a smaller value to improve the sensitivity to continuous aiming jitter. When the firing mode is a time-limited and limited ammunition mode, both the instantaneous jitter threshold and the continuous jitter threshold are set to smaller values.

[0078] In one embodiment, the instantaneous jitter threshold is 40 degrees per second, the continuous jitter threshold is 3 degrees, and the rebound threshold is 4 degrees; where "degrees per second" is the unit of angular velocity and "degree" is the unit of attitude angle change.

[0079] The target reporting terminal performs deviation cause attribution based on the action feature set and threshold set and outputs deviation cause labels. The deviation cause labels are a discrete set of labels used to characterize the main causes of shooting deviation. To avoid terminology jumps, the deviation cause labels are fixed as: abnormal weapon status, momentary trigger pull jitter, continuous aiming jitter, and stable action.

[0080] The target reporting terminal generates deviation cause labels according to the following priority rules: when the weapon status abnormality flag is true, the deviation cause label is set to weapon status abnormality; when the weapon status abnormality flag is false and the peak instantaneous angular velocity at trigger pull is greater than the instantaneous jitter threshold, the deviation cause label is set to trigger pull instantaneous jitter; when the weapon status abnormality flag is false and the peak instantaneous angular velocity at trigger pull is not greater than the instantaneous jitter threshold and the amplitude of the trigger pull window attitude jitter is greater than the continuous jitter threshold, the deviation cause label is set to continuous aiming jitter; when none of the above conditions are met, the deviation cause label is set to stable action.

[0081] The reporting terminal writes the deviation cause label and threshold set reference identifier into the deviation analysis record so that the same threshold caliber can be reused in subsequent prohibition condition determination and avoids thresholds of unknown origin.

[0082] S430, target reporting terminal maintenance correction parameters, including lateral correction parameters. With longitudinal correction parameters Among them, the lateral correction parameters Used to generate lateral correction prompts, longitudinal correction parameters Used to generate longitudinal correction cues; correction parameters are stored in isolation according to training session identifiers to avoid interference between correction parameters from different training sessions.

[0083] The target reporting terminal determines whether to update the correction parameters based on the deviation cause label: when the deviation cause label is abnormal weapon status, the target reporting terminal does not update the correction parameters and generates an equipment abnormality prompt; when the deviation cause label is momentary jitter when pulling the trigger or continuous aiming jitter, the target reporting terminal updates the correction parameters; when the deviation cause label is stable action, the target reporting terminal keeps the correction parameters unchanged.

[0084] When the conditions are met that "the matching result is marked as matched, the hit result is not an invalid hit, and the deviation reason label is not weapon status abnormal," the target reporting terminal will report the target based on the learning rate. Perform a one-step update on the correction parameters, learning rate The step size coefficients for updating the correction parameters and satisfying The update rules are as follows: in, , These are the lateral correction parameters and the longitudinal correction parameters, respectively. , These are the lateral deviation and the longitudinal deviation, respectively.

[0085] In one embodiment, let the update be... , Learning rate The deviation of a certain shot was , After the update , Based on this, the target reporting terminal generates correction prompts such as "lateral leftward correction, vertical elevation correction".

[0086] The target reporting terminal generates correction prompts based on correction parameters and shooting deviations. These prompts include at least lateral and longitudinal correction prompts. When the lateral correction prompt is to correct to the left; when When the horizontal correction prompt is to correct to the right; when When the longitudinal correction is indicated, it is a downward correction; when When the longitudinal correction prompts for a lift correction; when or At that time, the corresponding direction correction prompt is to remain unchanged.

[0087] The target reporting terminal writes the deviation prompts into the training guidance strategy. The training guidance strategy includes at least: deviation cause label, deviation prompts, and guidance intensity parameters corresponding to the shooting mode. The guidance intensity parameters are determined by the training configuration record. When the shooting mode is time-limited and ammunition-limited mode, the guidance intensity parameters take a larger value to increase the prompt frequency. When the shooting mode is free mode, the guidance intensity parameters take a smaller value to reduce the prompt frequency.

[0088] The target reporting terminal writes the correction parameter update record, correction prompts and training guidance strategy into the training data storage, and also writes the deviation reason label and threshold set reference identifier into the training data storage, so as to serve as the input for subsequent prohibition condition judgment, permission linkage control and training effect evaluation, thereby ensuring that the output of this segment is consumed in subsequent steps and no useless output is generated.

[0089] S5 specifically includes the following sub-steps: S510. After the session start flag in the training session state is set to true, the target reporting terminal starts the prohibition condition determination process and performs joint determination in the manner of "determining once for each shooting event record generated"; wherein, the shooting event record is generated by S230, so the determination triggering time of this step is consistent with the generation time of the shooting event record.

[0090] The target reporting terminal reads the session start time from the training session state. ,in, The session start time is the unified timeline timestamp corresponding to the moment the session start flag is set to true; the reporting terminal obtains the current time. ,in, The current time represents the unified timeline timestamp corresponding to the moment the prohibition condition determination was performed; the reporting terminal calculates the current session duration using the following formula. : in, The duration of the current session.

[0091] The target reporting terminal reads the maximum training duration from the training configuration record. Maximum number of shots ,in, The training duration limit represents the maximum allowed duration of this training session; The maximum number of shots allowed in this training session is represented by the maximum number of shots allowed.

[0092] The target reporting terminal maintains a count of the number of shots under this training session identifier. ,in, The shot count indicates the number of valid trigger pull events recorded in this training session. The target reporting terminal counts based on the trigger pull status in the shot event record. When the trigger pull status is valid, the shot event record is counted as one shot and the count is updated. Increment by 1; when the trigger pull is invalid, it is not counted in the firing count; however, firing events with a matching result of "not matched" are still counted as one firing count to ensure that the anomaly of "trigger pulled but target not detected as hit" can be counted and used for subsequent control. The target reporting terminal generates an over-limit prohibition flag according to the following formula. : in, This is an over-limit prohibition sign. A value of 1 indicates that the prohibition of shooting was triggered due to exceeding the time or number of attempts limit, while a value of 0 indicates that the prohibition of shooting was not triggered due to exceeding the time or number of attempts limit.

[0093] The target reporting terminal reads the target surface connection status and the gun end connection status. When the target surface connection status or the gun end connection status is abnormal, a connection abnormality prohibition flag is generated and set to 1; otherwise, it is set to 0. The connection abnormality prohibition flag is used to indicate whether shooting is prohibited due to connection abnormality.

[0094] The target reporting terminal locates the threshold set based on the threshold set reference identifier and reads the peak instantaneous angular velocity of the trigger pull from the action feature set. Amplitude of windshield jitter when the trigger is pulled ,in, The peak instantaneous angular velocity at the moment the trigger is pulled. The amplitude of the windshield attitude jitter before triggering; the target reporting terminal reads the instantaneous jitter threshold from the threshold set. With continuous jitter threshold ,in, The instantaneous jitter threshold, The continuous jitter threshold is used to generate an abnormal action prohibition flag based on the following formula. : in, This is a warning sign for abnormal actions. A value of 1 indicates that shooting is prohibited due to an abnormal action, while a value of 0 indicates that shooting is prohibited without being caused by an abnormal action.

[0095] The target reporting terminal performs session validity determination on the training session status. When the session creation flag is false or the session start flag is false, a session invalid prohibition flag is generated and set to 1; otherwise, it is set to 0. The session invalid prohibition flag is used to indicate whether shooting is prohibited due to session invalidity.

[0096] The reporting terminal performs a logical OR operation on the over-limit prohibition flag, connection abnormality prohibition flag, action abnormality prohibition flag, and session invalidity prohibition flag to obtain the prohibition condition determination result. The prohibition condition determination result is a binary determination result, with a value of 1 indicating that any prohibition condition is met and a value of 0 indicating that no prohibition condition is met.

[0097] When the prohibition condition determination result is 1, the reporting terminal generates a trigger reason code. The trigger reason code is used to characterize the reason category for triggering the prohibition. To avoid ambiguity, the trigger reason code is fixed to one or more of the following sets: invalid session, connection error, duration exceeded, number of attempts exceeded, and action error. The reporting terminal also generates a trigger evidence field list, which must contain at least the evidence value corresponding to the trigger reason code. When the trigger reason code includes duration exceeded, the evidence value must contain at least the following: and When the trigger cause code exceeds the limit, the evidence value must contain at least the following: and When the trigger cause code includes an action exception, the evidence value must contain at least the following: , , , When the trigger cause code includes connection anomaly, the evidence value must include at least the target surface connection status and the gun end connection status.

[0098] In one embodiment, an upper limit for training duration is set. Seconds, maximum number of shots Send; when the determination time has elapsed for a certain period of time Seconds, Over-limit prohibition sign The trigger reason code includes duration exceeding the limit; when the number of shots counts... At that time, the trigger cause code includes "exceeded the limit on the number of trigger attempts"; when the peak instantaneous angular velocity is pulled... Degrees per second and instantaneous jitter threshold Abnormal action prohibition sign at degrees per second. The trigger reason code includes an action exception.

[0099] The reporting terminal writes the prohibition condition judgment result, trigger reason code and trigger evidence field list into the judgment record. The judgment record serves as the input for subsequent permission linkage issuance and training data storage.

[0100] S520: The target reporting terminal reads the current shooting permission status and executes permission linkage based on the prohibition condition judgment result; the shooting permission status is a binary status, with values ​​of "allow shooting" or "prohibit shooting".

[0101] When the prohibition condition determination result is 1 and the current shooting permission status is allowed to shoot, the target reporting terminal sends a prohibition shooting command to the invisible infrared laser emitter, causing the invisible infrared laser emitter to enter the prohibition shooting state; the prohibition shooting command carries at least the training session identifier and the trigger reason code, so that the invisible infrared laser emitter will assign the prohibition state to the corresponding training session and record the trigger reason.

[0102] After issuing a no-shooting command, the target reporting terminal waits for a confirmation message. The confirmation message includes at least the device identifier of the invisible infrared laser emitting device, the training session identifier, the command type, and the confirmation status. If the target reporting terminal does not receive a confirmation message within a preset confirmation timeout period, it reissues the no-shooting command for a preset number of retries. In one embodiment, the preset confirmation timeout period is 200 milliseconds, and the preset number of retries is 3.

[0103] When the target reporting terminal receives a successful receipt message within the preset receipt timeout period, it updates the shooting permission status to prohibited shooting. If the target reporting terminal does not receive a receipt message or receives a failed receipt message within the preset number of retries, it still updates the shooting permission status to prohibited shooting and records the receipt missing or failed receipt in the permission change record to ensure that the system prioritizes safety when communication is unreliable.

[0104] When the prohibition condition determination result is 1 and the current shooting permission status is prohibited from shooting, the target reporting terminal will not reissue the prohibition shooting command, but will only generate a record to maintain the prohibition shooting, so as to avoid repeated issuance of commands and cause command congestion.

[0105] When the prohibition condition determination result is 0 and the current shooting permission status is allowed to shoot, the target reporting terminal generates a record to maintain allowed shooting. When the prohibition condition determination result is 0 and the current shooting permission status is prohibited to shoot, the target reporting terminal does not automatically restore to allowed shooting status, but sets the session end flag to true and maintains prohibited shooting status to avoid security risks caused by accidental restoration after the prohibition condition has been triggered.

[0106] The target reporting terminal generates a permission change record or maintenance record. The permission change record or maintenance record includes at least the training session identifier, the shooting permission status before the change, the shooting permission status after the change, the judgment record reference identifier, the change timestamp, and the instruction receipt status. The permission change record or maintenance record serves as input for training data storage.

[0107] The S530 target reporting terminal uses the training session identifier as the session primary key and the shooting event sequence number as the event subkey to establish an index structure for training data storage; wherein, the shooting event sequence number is incremented according to the generation order of the shooting event record, and is used to uniquely identify each shooting event within the same training session.

[0108] When generating a shooting event record, the target reporting terminal immediately writes the shooting event record into the training data storage, and associates the shooting event record with the target reporting results, deviation analysis records, and correction parameter update records under the same shooting event number to ensure that the "data-result-attribution-control" of the same shooting event is traceable.

[0109] When generating a target reporting result, the target reporting terminal immediately writes it into the training data storage. The fields written include at least the training session identifier, shooting event number, matching result flag, spot coordinates, hit time, hit result and score value. When the matching result flag is not matched, the target reporting result is still written and the hit result is set to invalid hit for subsequent anomaly statistics and review.

[0110] When generating deviation analysis records, the target reporting terminal immediately writes them into the training data storage. The written fields include at least the action feature set, shooting deviation, deviation cause label, and threshold set reference identifier. The threshold set reference identifier is consistent with the S420 output and is used to ensure that the same threshold caliber is reused for action anomaly judgment and cause attribution.

[0111] When generating the error correction parameter update record and error correction prompt, the target reporting terminal immediately writes them into the training data storage. The fields written include at least the horizontal error correction parameter, the vertical error correction parameter, the learning rate, the error correction prompt, and the training guidance strategy. Among them, the training guidance strategy includes at least the deviation cause label, the error correction prompt, and the guidance intensity parameter to ensure that the subsequent training effect evaluation can reproduce the prompt at that time.

[0112] When generating a judgment record and permission change record or maintenance record, the target reporting terminal immediately writes it into the training data storage. The written fields include at least the prohibition condition judgment result, the trigger reason code, the trigger evidence field list, the shooting permission status, the instruction receipt status, and the change timestamp, so as to ensure that "why the prohibition was triggered, what the basis was, and whether it was successfully issued" can be verified later.

[0113] To avoid historical records being overwritten and becoming untraceable, the target reporting terminal uses an append-only method to store training data: when a new correction parameter update record or a new permission change record appears under the same training session identifier and the same shooting event number, the target reporting terminal does not overwrite the original record, but appends it with the new record version number and establishes a relationship between the previous and subsequent versions between the records, thereby achieving traceable closed-loop evidence storage of training data.

[0114] The reporting terminal generates a session summary record and writes it to the training data storage at the end of the training session. The session summary record includes at least the training configuration record and the session start time. The session end time, final shot count, final shot permission status, and trigger reason code are summarized for subsequent training session queries, statistical analysis, and training effect evaluation. Each field in the session summary record comes from the training data written in the aforementioned steps, thus ensuring that no unsourced input is generated throughout the process and that each output is consumed subsequently.

[0115] Example 2: Figure 2 As shown, this embodiment provides a multimodal simulated shooting training system, including: Target reporting terminal, target surface sensing array, and invisible infrared laser emitting device; The target surface sensing array is a standard and uniformly distributed array of sensing points used to detect invisible infrared light spots and output target surface hit data. The target surface hit data includes at least the target surface sensing array device identifier, training session identifier, light spot coordinates, hit time, and hit credibility flag. The invisible infrared laser emitting device is used to output gun-end action data when a trigger action is detected. The gun-end action data includes at least the invisible infrared laser emitting device device identifier, training session identifier, trigger status, trigger time, weapon attitude change characteristics, and weapon status information. It is also used to receive permission to fire or prohibition to fire to switch the firing permission status. The target reporting terminal is communicatively connected to the target surface sensing array and the invisible infrared laser emitting device. The target reporting terminal is configured to: perform connectivity verification to generate the target surface connection status and the gun end connection status, receive training configuration parameters to generate training configuration records, and generate a training session identifier and training session status when the target surface connection status and the gun end connection status are both normal and the training configuration record is valid, and then issue a shooting permission command to the invisible infrared laser emitting device. Receive target hit data and gun tip action data and unify the timestamps. Establish an alignment window to match the hit time based on the trigger pull time and generate a shooting event record containing the matching result flag. Based on the target type in the training configuration record, the target type mapping rule is invoked to perform target type mapping calculation on the light spot coordinates in the shooting event record to obtain the hit result and score value, generate the target reporting result and output the bullet impact point mark, hit result list and voice broadcast, and generate trajectory rendering result and new and old bullet hole mark when the shooting mode is trajectory mode. Based on the shooting event records, the action feature set is extracted and the shooting deviation is calculated. The deviation reason label is generated according to the threshold set reference identifier. When the update condition is met, the lateral correction parameter and the longitudinal correction parameter are updated to generate the correction prompt and write it into the training guidance strategy. The shooting event record triggers a joint judgment of invalid session, abnormal connection, excessive duration or number of times, and abnormal action to obtain the prohibition condition judgment result and trigger reason code. When the prohibition condition is met, a prohibition shooting command is issued to the invisible infrared laser emitting device and an access control change record is generated. An index is created using training session identifiers and shooting event numbers. Shooting event records, target reporting results, deviation analysis records, correction parameter update records, judgment records, and permission change records are written into the training data storage to form a traceable closed-loop evidence.

[0116] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters and thresholds in the formulas are set by those skilled in the art according to the actual situation.

[0117] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0118] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0119] In conclusion, the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multimodal simulated shooting training method, characterized in that, Includes the following steps: S1. The target reporting terminal establishes and verifies the connection with the target surface sensing array and the invisible infrared laser emitting device, receives training configuration parameters, generates training configuration records, generates training session identifiers and training session status, and issues a shooting permission command when the verification is successful and the training configuration records are valid. S2. Collect target hit data and gun tip action data and unify the timestamps. Establish an alignment window to match the hit time based on the trigger pull time and generate a shooting event record with matching result flags. S3. Call the target mapping rules according to the target type recorded in the training configuration, calculate the hit result and generate the target reporting result for the light spot coordinates recorded in the shooting event. When the shooting mode is trajectory mode, generate trajectory rendering result and new and old bullet hole markings. S4. Extract action feature set based on shooting event record and calculate shooting deviation. Generate deviation cause label according to threshold set reference identifier. Update lateral and longitudinal correction parameters to generate correction prompts and write them into training guidance strategy.

2. The multimodal simulated shooting training method according to claim 1, characterized in that, Also includes: S5. Based on the training session status, target connection status, gun connection status, training configuration record, action feature set and shooting event record, the prohibition condition is jointly determined. When the prohibition condition is met, a prohibition shooting command is issued and an permission change record is generated and written to the training data storage.

3. The multimodal simulated shooting training method according to claim 1, characterized in that, S1 specifically includes: Establish communication connections with the target surface sensing array and the invisible infrared laser emitting device respectively, and send heartbeat verification messages. Based on the feedback statistics, generate the target surface connection status and the gun end connection status. Receive target type, shooting mode, training duration limit and shooting count limit and perform legality verification to generate a training configuration record containing configuration legality flags; When both the target connection status and the gun connection status are normal and the configuration of the legal flag is passed, a training session identifier and training session status are generated, and a shooting permission command is issued to the invisible infrared laser emitting device to form the initial shooting permission status.

4. The multimodal simulated shooting training method according to claim 1, characterized in that, S2 specifically includes: The target surface sensing array detects the light spot formed by each shot and outputs target surface hit data containing the light spot coordinates and hit time, and the target reporting terminal generates a target surface hit record; When the invisible infrared laser emitting device detects a trigger pull, it outputs gun-end action data including trigger pull status and trigger pull time, and collects weapon attitude change characteristics and weapon status information. The target reporting terminal generates a gun-end action record. The target reporting terminal timestamps the target hit record and the gun action record, establishes an alignment window based on the trigger pull time, matches the hit time within the alignment window, and generates a shooting event record containing the matching result flag.

5. The multimodal simulated shooting training method according to claim 1, characterized in that, S3 specifically includes: The target reporting terminal loads the target mapping rules in the training configuration record, performs target mapping calculation on the spot coordinates in the shooting event record to obtain the hit result and score value, and binds the hit result and score value with the shooting event record to generate the target reporting result and outputs the bullet impact point mark, hit result list and voice broadcast; When the shooting mode is trajectory mode, the target reporting terminal constructs a sequence of valid bullet impact points sorted by hit time under the same training session identifier, generates trajectory rendering results, and generates new and old bullet hole markers based on the training session identifier.

6. The multimodal simulated shooting training method according to claim 1, characterized in that, S4 specifically includes: The target reporting terminal extracts a set of action features based on the shooting event record, including the peak value of the instantaneous angular velocity when the trigger is pulled, the amplitude of the attitude jitter in the front window when the trigger is pulled, the amplitude of the attitude rebound in the rear window when the trigger is pulled, and the weapon status abnormality indicator. It then calculates the shooting deviation based on the coordinates of the impact point and the coordinates of the deviation reference point. The target reporting terminal determines the threshold set based on the training configuration record and generates a threshold set reference identifier. It then associates the action feature set with the threshold set according to a preset priority rule to obtain the deviation reason label.

7. The multimodal simulated shooting training method according to claim 6, characterized in that, Also includes: When the matching result is marked as matched and the deviation reason label is not weapon status abnormal, the target reporting terminal updates the lateral and longitudinal correction parameters, generates a correction prompt, and writes it into the training guidance strategy.

8. The multimodal simulated shooting training method according to claim 1, characterized in that, S5 specifically includes: The target reporting terminal triggers a joint determination based on the generation of shooting event records, calculates the duration of the current session based on the session start time and the current time, and generates a shooting count based on the number of valid trigger pull events. The target reporting terminal combines training configuration records, target connection status, gun end connection status, action feature set, and threshold set reference identifiers to generate prohibition condition judgment results and trigger reason codes; When the result of the prohibition condition determination indicates that any prohibition condition is met, the target reporting terminal issues a prohibition shooting command to the invisible infrared laser emitting device and generates an access control change record containing the command receipt status.

9. The multimodal simulated shooting training method according to claim 8, characterized in that, Also includes: The target reporting terminal establishes an index using the training session identifier and shooting event sequence number, and writes shooting event records, target reporting results, deviation analysis records, correction parameter update records, judgment records and permission change records into the training data storage to form a traceable closed-loop evidence storage.

10. A multimodal simulated shooting training system, employing the multimodal simulated shooting training method according to any one of claims 1 to 9, characterized in that, include: Target reporting terminal, target surface sensing array, and invisible infrared laser emitting device; The target surface sensing array is a standard and uniformly distributed array of sensing points, used to detect invisible infrared light spots and output target surface hit data; the invisible infrared laser emitting device is used to output gun end action data when trigger action is detected, and to receive permission to fire or prohibition to fire to switch firing authority status.

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