Optical engine and electromagnetic imaging dual-mode moving target synchronous simulation method and system

Abstract

The application discloses an optical engine and electromagnetic imaging dual-mode moving target synchronous simulation method and system, and the method comprises the following steps: S1, generating a spatial three-dimensional trajectory, a spatial three-dimensional posture of a target and a relative position relationship between the target and the optical engine; S2, generating an optical frame dynamic sequence image of the target; S3, generating an electromagnetic frame dynamic sequence image matched with the optical frame dynamic sequence image based on a three-dimensional physical model of the target; and S4, visualizing and demonstrating the electromagnetic frame dynamic sequence image and the optical frame dynamic sequence image of the target and the spatial three-dimensional trajectory and spatial three-dimensional posture information of the target after integration. The method has the following advantages: the method is aimed at typical air aircraft dynamic targets, optical irradiation and electromagnetic radiation quantitative modeling are carried out through optical engine and electromagnetic simulation technology, and fast and batch simulation of optical and electromagnetic imaging dual modes of the air dynamic target is completed, and the dual-mode dynamic image frame sequence generated by the method can provide data support for dynamic target detection, tracking and identification research.

Description

Technical Field

[0001] This invention relates to the interdisciplinary field of computer graphics, vision, and imaging radar modeling and simulation, specifically to a dual-mode moving target synchronous simulation method using optical engines and electromagnetic imaging, belonging to the field of detection and recognition technology. This method utilizes a three-dimensional physical model of the moving target, optical illumination and electromagnetic field radiation geometry, electromagnetic imaging modeling and simulation, and dynamic interaction information between a virtual camera, radar, and the target. It achieves dual-modal synchronous, rapid, and large-scale simulation of moving targets, as well as dynamic matching of target attitudes. This method can provide data support for research on multimodal fusion continuous frame sequence detection, tracking, and recognition of non-cooperative moving targets. Background Technology

[0002] Existing machine learning methods rely on large amounts of well-labeled data and have achieved significant application progress. However, in dynamic game-based adversarial environments, there is a lack of data on non-cooperative moving targets, which is difficult to obtain. The limited data also struggles to cover complex conditions such as target position, attitude, radar illumination angle, and time-varying dynamic scenes. Furthermore, the imaging mechanism differs from optics, resulting in greater loss of visual information, more complex calibration, and difficulty in manual annotation. Prior knowledge indicates that visual image information of non-cooperative moving targets is more abundant than radar electromagnetic imaging information. Target feature extraction and representation techniques for visual image information are relatively mature, and visual image resolution is high. However, its imaging environment requirements are also very high, and its environmental adaptability and anti-interference capabilities are inferior to radar electromagnetic imaging.

[0003] On the other hand, the fusion of optical cameras and tracking imaging radar plays an increasingly important role in providing accurate and real-time tactical and strategic intelligence, detecting threat targets, optimizing situational awareness, and obtaining threat target status estimates, threat level analysis, fire control, precision guidance, electronic countermeasures, combat simulation, and decision support. However, data acquisition is difficult and costly, especially obtaining images with simultaneous matching of dual modes, which is extremely challenging.

[0004] Research indicates that most existing technologies employ target scattering point models, which are not precise enough in representing the target scattering characteristics and shape contours. Furthermore, they typically only provide a single-mode target image simulation method. In addition, the simulated target motion is relatively simple, usually a static or turntable model, and cannot provide dynamic image frame sequences of non-cooperative moving targets under actual complex maneuvering conditions. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for synchronous simulation of moving targets in both optical engine and electromagnetic imaging modes. This method targets typical aerial aircraft-type dynamic targets and uses optical engine and electromagnetic simulation technology to perform quantitative modeling of optical illumination and electromagnetic radiation, thereby completing rapid and batch simulation of aerial moving targets in both optical and electromagnetic imaging modes. The dual-modal dynamic image frame sequence generated by this method can provide data support for research on moving target detection, tracking and recognition.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] A method for synchronous simulation of a moving target using a dual-mode optical engine and electromagnetic imaging, comprising:

[0008] S1. Generate the target's three-dimensional spatial trajectory, three-dimensional spatial attitude, and the relative positional relationship between the target and the optical engine;

[0009] S2. Generate a dynamic sequence of optical frames of the target;

[0010] S3. Based on the target's three-dimensional physical model, generate electromagnetic frame dynamic sequence images that match the optical frame dynamic sequence images through batch simulation;

[0011] S4. Visualize the integrated electromagnetic frame dynamic sequence image, optical frame dynamic sequence image, and spatial three-dimensional trajectory and spatial three-dimensional attitude information of the target.

[0012] Optionally, in step S1, generating the target's three-dimensional spatial trajectory, three-dimensional spatial pose, and the relative positional relationship between the target and the optical engine includes:

[0013] Set the initial parameters for the target flight;

[0014] Configure the optical engine to follow mode so that its viewpoint always follows the target during operation;

[0015] Based on a dynamic model, control the target's flight maneuvers;

[0016] Obtain the target's pose in each frame under various flight maneuvers;

[0017] Save the dynamic frame sequence images and trajectories to generate the target's trajectory file;

[0018] Calculate the relative position of the optical engine to the target and the angle of view relative to the target at each moment.

[0019] Optionally, in step S1, the target's three-dimensional spatial trajectory and six-degree-of-freedom pose of the three-dimensional spatial attitude are generated by a simulated trajectory generator.

[0020] Alternatively, in step S1, the existing six-degree-of-freedom pose data of the target's spatial three-dimensional trajectory and spatial three-dimensional attitude can be directly imported.

[0021] Optionally, in step S1, the optical engine uses Unity or Unreal interactive drive, and the electromagnetic simulation uses CST, HFSS or FEKO.

[0022] Optionally, step S2 specifically includes:

[0023] Import the three-dimensional physical model of the target to be simulated;

[0024] Import lighting and sky backgrounds from different scenes to simulate different backgrounds;

[0025] Set the optical engine to optical camera mode and provide the corresponding focal length and field of view parameters;

[0026] Set the position and orientation of the optical camera, as well as control the frame rate of the shot;

[0027] The timestamp of each frame is obtained based on the frame rate of the optical engine;

[0028] Find the nearest neighbor for each timestamp in the trajectory file, and use the position and attitude information of the nearest neighbor as the six degrees of freedom information of the target model at the current moment to achieve trajectory discretization;

[0029] Start simulation;

[0030] Acquire the first frame of the optical image;

[0031] Initialize the tracking target;

[0032] Track the target using the kernel correlation filter algorithm;

[0033] The tracking results are transmitted to the optical engine in real time, and the optical axis of the optical engine is adjusted so that the target is in the center area of ​​the image.

[0034] Import the trajectory information of the next frame, acquire the optical image of the next frame, and so on until a dynamic sequence of optical frames of the target motion is generated.

[0035] Optionally, step S3 specifically includes:

[0036] Import the target 3D physical model and perform preprocessing;

[0037] Electromagnetic imaging parameters are set using an automated script for parameter setting.

[0038] The trajectory is sampled according to the radar coherent processing time interval, and the corresponding start and end times are generated according to the given radar coherent processing time interval.

[0039] Based on each start and end time, the nearest neighbor point is found in the timestamp sequence of the target trajectory information, and the start and end times of the coherent processing time interval and the corresponding six degrees of freedom information of the target are obtained as the start and end positions of the target imaging.

[0040] The radar's initial and final viewing angles relative to the target are calculated based on the radar's relative position in the target coordinate system. The radar electromagnetic imaging process of the target is approximated by a turntable model in which the target rotates from the initial to the final viewing angle.

[0041] Rotate the electromagnetic working plane so that it is approximately parallel to the rotation direction of the target;

[0042] Calculate the target echo signal during each radar coherent imaging process;

[0043] Batch imaging of targets generates electromagnetic frame sequence images of moving targets.

[0044] Optionally, the preprocessing includes: fine-tuning the triangular facet patch and ensuring electromagnetic simulation consistency;

[0045] The target echo signal is calculated using a large-area physical optics algorithm.

[0046] Batch imaging of targets is achieved using a range Doppler imaging algorithm.

[0047] Optionally, a system employing the aforementioned dual-mode moving target synchronous simulation method using an optical engine and electromagnetic imaging includes:

[0048] The target six-degree-of-freedom pose generation module is used to generate the target's six-degree-of-freedom position and attitude, as well as the relative positional relationship between the target and the optical engine. The target's six-degree-of-freedom position and attitude include the target's spatial three-dimensional trajectory and spatial three-dimensional attitude.

[0049] An optical frame sequence generation module receives data generated by the target six-degree-of-freedom pose generation module, and the optical frame sequence generation module is used to generate dynamic sequence images of optical frames of the target.

[0050] An electromagnetic imaging frame sequence generation module receives data generated by the target six-degree-of-freedom pose generation module, and generates a dynamic sequence image of the electromagnetic frame of the moving target.

[0051] Optionally, the optical frame sequence generation module includes:

[0052] The scene adaptation import module is used to import different scene lighting and sky backgrounds to simulate different backgrounds;

[0053] The optical engine tracking module adjusts the optical axis of the optical engine based on the target's position information after imaging in order to track the target's motion in real time;

[0054] The image frame sequence generation module and the first target six-DOF pose import module import the target pose data generated in step S1 into the image frame sequence generation module to generate a target optical frame image sequence.

[0055] Optionally, the electromagnetic imaging frame sequence generation module includes:

[0056] The discrete preprocessing module and the second target six-DOF pose import module import the target pose data generated in step S1 into the discrete preprocessing module. The discrete preprocessing module processes the target pose data and timestamp data into discretized data that can be used for electromagnetic simulation.

[0057] The electromagnetic parameter setting module is used for the automated configuration of the electromagnetic imaging simulation environment.

[0058] The batch electromagnetic imaging simulation module is used to generate electromagnetic imaging frame sequence images of moving targets.

[0059] Compared with the prior art, the present invention has the following advantages:

[0060] This invention provides a method and system for synchronous simulation of moving targets in a dual-mode system using optical engines and electromagnetic imaging. This method targets typical aerial aircraft-type dynamic targets and uses optical engines and electromagnetic simulation technology to perform quantitative modeling of optical illumination and electromagnetic radiation, enabling rapid and batch simulation of dual-mode optical and electromagnetic imaging of aerial moving targets. The dual-mode dynamic image frame sequence generated by this method will be used for the design and verification of integrated target detection, tracking and recognition. This method solves the data support problem for the fusion detection, tracking and recognition of multi-mode dynamic frame sequences of non-cooperative moving targets.

[0061] Furthermore, electromagnetic imaging can be either synthetic aperture radar (SAR) images or inverse synthetic aperture radar (ISAR) images.

[0062] Furthermore, compared to existing electromagnetic imaging simulations that mostly use scattering point models and lack the expression and description of shape contours and component features, the method of this invention designs a moving target mesh physical model based on the principle of electromagnetic computation consistency. With the help of electromagnetic simulation technology, i.e., electromagnetic simulation software, it realizes the electromagnetic imaging expression and description of the shape contours and component features of non-cooperative moving targets.

[0063] Furthermore, compared to existing electromagnetic simulation technologies that support single-frame image simulation but are not convenient for generating dynamic frame sequences, this invention uses optical and electromagnetic simulation technologies to achieve dual-modal synchronous, fast, large-scale numerical calculation simulation and imaging display that is dynamically matched with the target attitude.

[0064] Furthermore, in the prior art, optical and electromagnetic imaging methods differ significantly in their representation of spatial geometry, point information, edges, and surfaces. In this invention, simulation modeling is performed and the geometry of moving targets in the air, optical illumination, and electromagnetic field radiation is discretized, quantified, and visualized, ensuring the consistency and diversity of information in the dynamic interaction between the optical camera, radar, and the target. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of a dual-mode moving target synchronous simulation method of optical engine and electromagnetic imaging according to the present invention;

[0066] Figure 2 This is a block diagram for generating dynamic sequence images of the target optical frames in this invention;

[0067] Figure 3 This is a block diagram for generating electromagnetic frame dynamic sequence images that match optical frame dynamic sequence images according to the present invention.

[0068] Figure 4 This is a schematic diagram of a system for synchronous simulation of a moving target using a dual-mode optical engine and electromagnetic imaging according to the present invention.

[0069] Figure 5 This is a schematic diagram of optical simulation visualization of five F-22s flying in a wedge formation according to an embodiment of the present invention;

[0070] Figure 6 This is a schematic diagram of electromagnetic imaging visualization in one embodiment of the present invention;

[0071] Figure 7 This is a schematic diagram of the flight formation trajectory visualization in one embodiment of the present invention. Detailed Implementation

[0072] The present invention will be further described below with reference to the accompanying drawings and by providing a detailed description of a preferred embodiment.

[0073] like Figures 1-4 As shown, this invention provides a dual-mode moving target synchronization simulation method for optical engine and electromagnetic imaging, which includes:

[0074] S1. Generate the target's six-degree-of-freedom position and attitude, as well as the relative positional relationship between the target and the optical engine. The target's six-degree-of-freedom position and attitude refer to its six-degree-of-freedom pose, which in this embodiment includes the target's three-dimensional spatial trajectory and three-dimensional spatial attitude. Optionally, the target is a dynamic aerial target such as an aircraft; in this embodiment, the target is an aircraft.

[0075] Optionally, in step S1, the optical engine uses Unity or Unreal Engine interactive driving. It should be noted that the optical engine is not limited to the above methods; it can also be other optical simulation drivers capable of achieving the above functions. In this embodiment, the optical engine is optical simulation driver software.

[0076] In step S1, generating the target's six-DOF pose and the relative positional relationship between the target and the optical engine includes: setting the initial parameters for the target's flight; setting the optical engine's follow mode so that its viewpoint always follows the target during operation; controlling the target's flight maneuvers based on the dynamic model; acquiring the target's pose for each frame under each flight maneuver; saving the dynamic frame sequence images and trajectory to generate the target's trajectory file, which contains the target's three-dimensional coordinates in the world coordinate system at each moment, as well as information on the target's pitch angle, yaw angle, roll angle, and six degrees of freedom, along with a timestamp; calculating the relative position of the optical engine or radar with the target, and calculating the optical engine or radar's viewpoint relative to the target at each moment (including pitch angle and azimuth angle).

[0077] The initial parameters of the target flight include data such as the target's flight speed, acceleration, rotational speed, rotational acceleration, and gravity. The target's flight actions include operations such as acceleration, deceleration, rotation, and yaw.

[0078] Optionally, in step S1, the target's three-dimensional spatial trajectory and six-DOF spatial attitude pose are generated by a simulated trajectory generator. Of course, the method for acquiring the target's three-dimensional spatial trajectory and six-DOF spatial attitude pose data is not limited to the above; it can also be any other acquisition method. For example, in another embodiment, existing target three-dimensional spatial position and six-DOF spatial attitude pose data can be directly imported in step S1.

[0079] S2. Generate a continuous optical frame sequence animation of the target, i.e., an optical frame dynamic sequence image.

[0080] Please see Figure 2Step S2 specifically includes: importing the 3D physical model of the target to be simulated; importing lighting and sky backgrounds for different scenes (which can be edited or existing data can be used to simulate different imaging backgrounds); setting the optical engine to physical camera mode, i.e., optical camera mode, and setting the corresponding focal length and field of view; setting the pose and frame rate of the optical camera, i.e., setting the position and attitude of the optical camera and controlling the frame rate speed; obtaining the timestamp of each frame image based on the frame rate of the optical engine; finding the nearest neighbor point in the trajectory file timestamp set, using the position and attitude information of the nearest neighbor point as the six-degree-of-freedom pose information of the target model at the current moment to achieve trajectory discretization. The timestamps of the trajectory file and the image being captured may not correspond, so the imaging time is first determined based on the frame rate, and then the corresponding position of the target at the corresponding moment is found in the trajectory timestamps using the imaging time; starting the simulation; acquiring the first frame of optical image; initializing the tracking target; and applying the kernel correlation filtering algorithm. The filter (KCF) tracks the target; the tracking results are transmitted to the optical engine in real time, and the optical axis of the optical camera, i.e. the camera lens attitude, is adjusted so that the target is in the center area of ​​the image; the trajectory information of the next frame is imported, and the optical image of the next frame is obtained (repeated the above steps) until the optical animation of the entire trajectory of the target's movement, i.e., the continuous optical frame sequence animation of the target, is generated.

[0081] In this embodiment, in step S2, a 3D physical model of the aircraft, modeled in 3D, is imported at a 1:1 scale.

[0082] S3. Based on the target's three-dimensional physical model, a radar electromagnetic imaging frame sequence image, i.e., an electromagnetic frame dynamic sequence image, is generated by batch simulation to match the dynamic sequence image of the optical frame for moving targets. That is, the electromagnetic echo signal of the target with the corresponding trajectory is obtained through high-frequency solution, and the target electromagnetic imaging is realized through an electromagnetic imaging algorithm.

[0083] Optionally, batch electromagnetic simulations can be performed using CST (Computer Simulation Technology, a three-dimensional full-wave electromagnetic field simulation software), HFSS electromagnetic simulation software, or FEKO electromagnetic simulation software, but the tools used for electromagnetic simulation are not limited to the above.

[0084] Please see Figure 3Step S3 specifically includes: importing the target's three-dimensional physical model and performing model preprocessing (the target model can be obtained from a public website); automatically setting electromagnetic imaging parameters through a parameter setting script; and adjusting the parameters according to the radar coherent processing time interval (Coherent Processing Time). Intertal (CPI) is used to sample the trajectory. Based on the given radar coherent processing time interval, the start and end time sequences of each radar coherent processing are generated. Based on each start and end time, the nearest neighbor point is found in the target trajectory information timestamp set, and the start and end times of the coherent processing time interval and the corresponding target six degrees of freedom information are obtained as the start and end positions of target imaging. The start and end viewpoints of the radar relative to the target are calculated based on the radar's relative position in the target coordinate system. The radar electromagnetic imaging process of the target is approximated by a turntable model in which the target rotates from the start viewpoint to the end viewpoint. The electromagnetic working plane in the electromagnetic simulation software is rotated so that the electromagnetic working plane is parallel to the approximate rotation direction of the target. The target echo signal in each radar coherent imaging process is calculated using an automated batch processing script. The target is batch-imported using an automated batch processing script to generate electromagnetic imaging trajectory images, and then electromagnetic imaging continuous frame sequence images matching the moving target with the continuous optical frame sequence animation are generated, i.e., electromagnetic frame sequence images of the moving target are generated.

[0085] The preprocessing of the target 3D physical model may include: performing fine triangular patching and electromagnetic simulation consistency checks, among other preprocessing operations.

[0086] In this embodiment, the target echo signal is calculated in each radar coherent imaging process using the Large Element Physical Optics (LePO) algorithm. On the other hand, the target is imaged in batches using the range Doppler algorithm.

[0087] S4. Use automated batch processing scripts to integrate the target's electromagnetic frame dynamic sequence images, optical frame dynamic sequence images, and six-DOF pose. After integration, visualize the results for subsequent design and verification of integrated target detection, tracking, and recognition. Figures 5-7 The diagram shown is a sample simulation result obtained from an embodiment of the present invention.

[0088] Based on the same inventive concept, this invention also discloses a system employing a dual-mode moving target synchronous simulation method using an optical engine and electromagnetic imaging. This system includes: a target six-degree-of-freedom pose generation module, an optical dynamic frame sequence generation module, and a radar electromagnetic imaging sequence generation module (see [link to documentation]). Figure 4 ).

[0089] The target six-DOF pose generation module generates the target's pose and its relative position to the optical engine. The target's six-DOF position and attitude include its spatial three-dimensional trajectory and spatial three-dimensional attitude. The optical frame sequence generation module receives the data generated by the target six-DOF pose generation module and generates a dynamic sequence of optical frame images of the target. The electromagnetic imaging frame sequence generation module receives the data generated by the target six-DOF pose generation module and generates a dynamic sequence of electromagnetic frame images of the moving target.

[0090] Furthermore, the optical dynamic frame sequence generation module includes: a scene adaptation import module, an optical engine tracking module (virtual camera tracking module), a first target six-degree-of-freedom pose import module, and a frame sequence generation module.

[0091] The scene adaptation import module is used to import different scene lighting and sky backgrounds to simulate different lighting and sky backgrounds. The optical engine tracking module adjusts the optical engine optical axis, i.e., the camera optical axis, based on the target's position information after imaging to track the target's motion in real time. The first target six-DOF pose import module imports the target six-DOF trajectory data generated in step S1 into the image frame sequence generation module. The image frame sequence generation module combines the data from each module to generate an optical frame sequence animation of the target (target optical frame image sequence). That is, the frame sequence generation module combines target mesh, texture, and color information, or imports existing aircraft models, to display a visualized continuous optical frame sequence animation.

[0092] Furthermore, the electromagnetic imaging frame sequence generation module includes: a discrete preprocessing module, a second target six-degree-of-freedom pose import module, an electromagnetic parameter setting module, and a batch electromagnetic imaging simulation module.

[0093] The second target six-DOF pose import module imports the target pose data generated in step S1 into the discrete preprocessing module. The discrete preprocessing module processes the target aircraft's pose data and timestamp data into discretized data suitable for electromagnetic simulation. The electromagnetic parameter setting module is used for the automated configuration of the electromagnetic simulation environment. The batch electromagnetic imaging simulation module generates electromagnetic imaging frame sequence images that match the moving target with the optical frame sequence animation through batch simulation and using a range Doppler imaging algorithm.

[0094] It should be noted that the system of the present invention, which adopts the dual-mode moving target synchronous simulation method of optical engine and electromagnetic imaging, is not limited to including the above-mentioned modules. Different functional modules can be set according to actual needs, and the present invention does not limit this.

[0095] In summary, the present invention discloses a method and system for synchronous simulation of moving targets in both optical engine and electromagnetic imaging modes. This method targets typical aerial aircraft-type dynamic targets and uses optical engine and electromagnetic simulation technology to perform quantitative modeling of optical illumination and electromagnetic radiation, thereby completing rapid and batch simulation of aerial moving targets in both optical and electromagnetic imaging modes. The dual-modal dynamic continuous image frame sequence generated by this method will be used for the design and verification of subsequent integrated target detection, tracking and recognition.

[0096] Furthermore, this method can generate optical and electromagnetic images corresponding to moving targets, which can help the development and application of multimodal sensors and highly intelligent reasoning integration technology based on big data deep learning. This method and process are applicable to the prediction of electromagnetic scattering characteristics under the motion of large-size targets, and can also provide data support for intelligent cognitive processes such as detection, tracking and recognition of images after radar electromagnetic imaging and optical imaging. This method has technical characteristics such as fast calculation speed, high calculation accuracy and wide applicability.

[0097] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A method for synchronous simulation of a moving target using a dual-mode optical engine and electromagnetic imaging, characterized in that, Include: S1. Generate the target's three-dimensional spatial trajectory, three-dimensional spatial attitude, and the relative positional relationship between the target and the optical engine; S2. Generate a dynamic sequence of optical frames of the target; S3. Based on the target's three-dimensional physical model, generate electromagnetic frame dynamic sequence images that match the optical frame dynamic sequence images through batch simulation; S4. Visualize the integrated electromagnetic frame dynamic sequence image, optical frame dynamic sequence image, and spatial three-dimensional trajectory and spatial three-dimensional attitude information of the target. Specifically, step S3 includes: Import the target 3D physical model and perform preprocessing; Electromagnetic imaging parameters are set using an automated script for parameter setting. The trajectory is sampled according to the radar coherent processing time interval, and the corresponding start and end times are generated according to the given radar coherent processing time interval. Based on each start and end time, the nearest neighbor point is found in the timestamp sequence of the target trajectory information, and the start and end times of the coherent processing time interval and the corresponding six degrees of freedom information of the target are obtained as the start and end positions of the target imaging. The radar's initial and final viewing angles relative to the target are calculated based on the radar's relative position in the target coordinate system. The radar electromagnetic imaging process of the target is approximated by a turntable model in which the target rotates from the initial to the final viewing angle. Rotate the electromagnetic working plane so that it is approximately parallel to the rotation direction of the target; Calculate the target echo signal during each radar coherent imaging process; Batch imaging of targets generates electromagnetic frame sequence images of moving targets.

2. The method for synchronous simulation of a dual-mode moving target using optical engine and electromagnetic imaging as described in claim 1, characterized in that, In step S1, generating the target's three-dimensional spatial trajectory, three-dimensional spatial pose, and the relative positional relationship between the target and the optical engine includes: Set the initial parameters for the target flight; Configure the optical engine to follow mode so that its viewpoint always follows the target during operation; Based on a dynamic model, control the target's flight maneuvers; Obtain the target's pose in each frame under various flight maneuvers; Save the dynamic frame sequence images and trajectories to generate the target's trajectory file; Calculate the relative position of the optical engine to the target and the angle of view relative to the target at each moment.

3. The method for synchronous simulation of a dual-mode moving target using optical engine and electromagnetic imaging as described in claim 1, characterized in that, In step S1, the target's three-dimensional spatial trajectory and six-degree-of-freedom pose of three-dimensional spatial attitude are generated by a simulated trajectory generator. Alternatively, in step S1, the existing six-degree-of-freedom pose data of the target's spatial three-dimensional trajectory and spatial three-dimensional attitude can be directly imported.

4. The method for synchronous simulation of a dual-mode moving target using optical engine and electromagnetic imaging as described in claim 1, characterized in that, In step S1, the optical engine uses Unity or Unreal interactive drive, and the electromagnetic simulation uses CST, HFSS or FEKO.

5. The method for synchronous simulation of a dual-mode moving target using optical engine and electromagnetic imaging as described in claim 1, characterized in that, Step S2 specifically includes: Import the three-dimensional physical model of the target to be simulated; Import lighting and sky backgrounds from different scenes to simulate different backgrounds; Set the optical engine to optical camera mode and provide the corresponding focal length and field of view parameters; Set the position and orientation of the optical camera, as well as control the frame rate of the shot; The timestamp of each frame is obtained based on the frame rate of the optical engine; Find the nearest neighbor for each timestamp in the trajectory file, and use the position and attitude information of the nearest neighbor as the six degrees of freedom information of the target model at the current moment to achieve trajectory discretization; Start simulation; Acquire the first frame of the optical image; Initialize the tracking target; Track the target using the kernel correlation filter algorithm; The tracking results are transmitted to the optical engine in real time, and the optical axis of the optical engine is adjusted so that the target is in the center area of ​​the image. Import the trajectory information of the next frame, acquire the optical image of the next frame, and so on until a dynamic sequence of optical frames of the target motion is generated.

6. The method for synchronous simulation of a moving target using both optical engine and electromagnetic imaging as described in claim 1, characterized in that, The preprocessing includes: fine triangular patching and electromagnetic simulation consistency. The target echo signal is calculated using a large-area physical optics algorithm. Batch imaging of targets is achieved using a range Doppler imaging algorithm.

7. A system employing the dual-mode moving target synchronous simulation method of optical engine and electromagnetic imaging as described in any one of claims 1 to 6, characterized in that, Include: The target six-degree-of-freedom pose generation module is used to generate the target's six-degree-of-freedom position and attitude, as well as the relative positional relationship between the target and the optical engine. The target's six-degree-of-freedom position and attitude include the target's spatial three-dimensional trajectory and spatial three-dimensional attitude. An optical frame sequence generation module receives data generated by the target six-degree-of-freedom pose generation module, and the optical frame sequence generation module is used to generate dynamic sequence images of optical frames of the target. An electromagnetic imaging frame sequence generation module receives data generated by the target six-degree-of-freedom pose generation module, and generates a dynamic sequence image of the electromagnetic frame of the moving target.

8. The system employing the dual-mode moving target synchronous simulation method of the optical engine and electromagnetic imaging as described in claim 7, characterized in that, The optical frame sequence generation module includes: The scene adaptation import module is used to import different scene lighting and sky backgrounds to simulate different backgrounds; The optical engine tracking module adjusts the optical axis of the optical engine based on the target's position information after imaging in order to track the target's motion in real time; The image frame sequence generation module and the first target six-DOF pose import module import the target pose data generated in step S1 into the image frame sequence generation module to generate a target optical frame image sequence.

9. The system employing the dual-mode moving target synchronous simulation method of the optical engine and electromagnetic imaging as described in claim 7, characterized in that, The electromagnetic imaging frame sequence generation module includes: The discrete preprocessing module and the second target six-DOF pose import module import the target pose data generated in step S1 into the discrete preprocessing module. The discrete preprocessing module processes the target pose data and timestamp data into discretized data that can be used for electromagnetic simulation. The electromagnetic parameter setting module is used for the automated configuration of the electromagnetic imaging simulation environment. The batch electromagnetic imaging simulation module is used to generate electromagnetic imaging frame sequence images of moving targets.

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