An integrated architecture of heterogeneous simulation models for multi-domain operations

Abstract

The present invention discloses a heterogeneous simulation model integrated architecture for multi-domain operations, and relates to the field of multi-domain operations experimental simulation technology. The heterogeneous simulation model integrated architecture includes a main control system, a simulation terminal system, a collaborative control system, an operating lever, and multiple heterogeneous simulation systems, wherein the heterogeneous simulation system includes an instruction interaction module, a network management module, a setting management module, a hypothetical data management module, a maneuver instruction management module, an internal data management module, an external data interaction module, and a plug-in management module. Compared with the prior art, the architecture has the characteristics of strong scalability, high stability, good compatibility, good performance, wide application scenarios, and simple operation. It adopts FMI interface standardization, can be compatible with multiple heterogeneous simulation plug-ins, and heterogeneous plug-ins use multi-threaded concurrency, which greatly improves the solution efficiency of heterogeneous simulation models and can meet the simulation experiment requirements of various scenarios.

Description

Technical Field

[0001] The present invention relates to the field of multi-domain combat experiment simulation technology, and in particular to a heterogeneous simulation model integration architecture for multi-domain combat. Background Art

[0002] The concept of "multi-domain operations" was first proposed by the US military. Subsequently, the United Kingdom, France and other NATO member states developed the concept of "multi-domain operations" in different forms. Israel was the first to apply the concept of "multi-domain operations" to actual combat. The Russian army innovatively proposed its own "multi-domain operations" theory from the perspective of the opponent. At present, the concept of "multi-domain operations" has become an important concept that has triggered a new round of transformation and transformation of foreign military operations. "Multi-domain operations" should be the dominant idea of ​​future operations. At present, there is a lack of collaborative behavior, command interaction, and fine-grained heterogeneous model simulation for multi-domain operations in China. In order to better learn and deeply study the essence of multi-domain operations and apply it to combat training and personnel training. In summary, the development of "multi-domain operations" experimental simulation is imminent, and the development of a heterogeneous simulation model integration architecture for multi-domain operations has become a top priority. Summary of the invention

[0003] In view of the above technical background, the present invention proposes a heterogeneous simulation model integration architecture for multi-domain operations. The architecture has the characteristics of strong scalability, high stability, good compatibility, good performance, wide application scenarios and simple operation. It adopts FMI interface standardization and can be compatible with multiple heterogeneous simulation plug-ins. The heterogeneous plug-ins use multi-threaded concurrency, which greatly improves the solution efficiency of heterogeneous simulation models and can meet the simulation experiment needs of various scenarios.

[0004] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0005] A heterogeneous simulation model integration architecture for multi-domain operations, characterized in that it includes a main control system, a simulation terminal system, a collaborative control system, an operating rod and multiple heterogeneous simulation systems, wherein the main control system is respectively connected to the multiple heterogeneous simulation systems, and the simulation terminal system is respectively connected to the heterogeneous simulation system, the operating rod and the collaborative control system, wherein:

[0006] The main control system is used for integrated configuration of simulation model plug-ins, clock advancement, simulation instruction collaborative control and assumption data editing. The main control system uses a system high-precision timer to advance clock instructions and adopts the TCPSelect model communication method;

[0007] The heterogeneous simulation system realizes an aircraft simulation simulator, a ship simulation simulator, an aircraft carrier simulation simulator, a bomber simulation simulator and an air defense missile simulation simulator by mounting different high-fidelity simulation plug-ins;

[0008] The simulation terminal system is used for accessing the human-in-the-loop control terminal and the intelligent control terminal. The human-in-the-loop control terminal is used to access the simulation rod machine and the UDP rod, and the intelligent control terminal is used to access the intelligent system and UI mobile. The simulation terminal and the simulation platform use TCP point-to-point communication mode to interact with control instructions;

[0009] The joystick is driven via a USB interface and performs corresponding key operations on the customized joystick API;

[0010] The collaborative control system is used to carry out task decision-making simulation experiments.

[0011] Preferably, the heterogeneous simulation system includes an instruction interaction module, a network management module, a setting management module, a scenario data management module, a maneuver instruction management module, an internal data management module, an external data interaction module and a plug-in management module, wherein:

[0012] The instruction interaction module adopts an object-oriented polymorphic design concept and is used to be compatible with the access of various maneuver instructions; the network management module is responsible for the information management of each system access terminal to ensure the integrity of data and instruction interaction between various systems; the setting management module is responsible for the management of the overall heterogeneous simulation platform setting project, including the simulation advancement step, the information setting of the integrated system and the plug-in integration solution, the plug-in integration solution includes the serial and parallel mechanism of the plug-in and the execution order of the plug-in; the assumption data management module is responsible for the parsing of the standard format of the XML assumption file, and the parsed data needs to be saved in the internal interaction management data module to provide the heterogeneous simulation system with the scene data of the simulation experiment. The fixed data includes basic information of the combat area and combat simulation unit; the mobile command management module is responsible for command control with the collaborative system, including sensor control, relay guidance, tactical induction, and mobile auxiliary reminder decision-making; the internal data management module is used to manage interactive data, and the internal data management module adopts the design method of flyweight to ensure the uniqueness of the data; the external data interaction module uses DDS for external interaction of simulation data; the plug-in management module is responsible for the business control process management of all simulation plug-ins, and the managed plug-ins include aircraft plug-ins, missile plug-ins, radar plug-ins, fire control plug-ins, electronic warfare plug-ins, data fusion plug-ins, task processing plug-ins, data subscription and publishing plug-ins.

[0013] Preferably, the heterogeneous simulation system adopts FMI interface design. The FMI interface standard stipulates the data transmission method and also standardizes the control method of the controller. The heterogeneous simulation system can automatically judge and handle problems arising in the joint simulation process by obtaining the status information of the function, thereby realizing simulation control of multidisciplinary complex systems.

[0014] Preferably, the heterogeneous simulation system uses Ethernet and DDS communication technologies to achieve interconnection, intercommunication and interoperability, wherein: the Ethernet interaction includes TCP mode and UDP mode, wherein when the heterogeneous simulation system requires reliable communication, the TCP communication mode is adopted; when the heterogeneous simulation system requires unreliable communication with other systems, the UDP communication mode is adopted.

[0015] Preferably, the hypothetical control instruction processing flow of the heterogeneous simulation system includes the following steps: when the instruction interaction module receives the hypothetical control instruction, the correctness of the instruction is checked to ensure the correctness of the instruction; when the hypothetical instruction and data are correct, the simulation hypothetical XML file is parsed, and the parsed hypothetical data is saved in the internal storage module, waiting to be used during the simulation execution.

[0016] Preferably, the collaborative control instruction processing flow of the heterogeneous simulation system includes the following steps: when a collaborative control instruction is received, a validity check is performed to first ensure the correctness of the instruction; when the instruction is correct, the instruction is handed over to the collaborative control system for processing the corresponding instruction, and the instruction includes sensor parameter adjustment, relay target guidance and maneuverable auxiliary decision reminder; when the collaborative decision-making module receives the sensor parameter adjustment, the adjusted parameters are saved in the internal data management module, and when waiting for the next simulation solution, the sensor plug-in adjusts the parameters, and the other instruction processing flows are the same as the above flows.

[0017] Preferably, the simulation control instruction processing flow of the heterogeneous simulation system includes the following steps: when a simulation instruction is received, firstly determining the simulation state of the current simulation simulator, and then switching to the corresponding simulation state according to the current state.

[0018] Preferably, the state machine switching process of the heterogeneous simulation system includes the following steps:

[0019] 1) When executing the simulation initialization instruction, it is necessary to load the simulation scenario and the situation before and after the simulation, and load the scenario data from the internal interactive data; load the current simulation configuration scheme through the scenario data, including the simulation operation mechanism and the execution order of the heterogeneous simulation plug-ins; perform the simulation plug-in initialization operation on the simulation plug-in to provide preliminary preparation for starting the simulation;

[0020] 2) When executing the simulation start instruction, in order to obtain the simulation data of other heterogeneous simulation systems, the simulation data is subscribed, and then the subscribed simulation data is saved in the internal interactive data module, waiting for the use of plug-in solution; the heterogeneous simulation model is solved according to the scheduling mechanism of the simulation model, and after the solution, the data in the external interactive data management is used for data release, and the solved simulation data is provided to other heterogeneous simulation systems;

[0021] 3) When executing simulation pause, the simulation model is paused and solved according to the scheduling mechanism of the heterogeneous simulation model;

[0022] 4) When the simulation is stopped, the simulation model is stopped and solved according to the scheduling mechanism of the heterogeneous simulation model.

[0023] The heterogeneous simulation model integration architecture for multi-domain operations proposed in the present invention has the following beneficial effects:

[0024] 1) Strong scalability. All modules use object-oriented design to better expand subsequent simulation services.

[0025] 2) High stability. The stability of the architecture is ensured through redundant design, resource limiting, disaster recovery processing, and stress testing.

[0026] 3) Good compatibility, using FMI interface standardization to make subsequent heterogeneous simulation models more compatible.

[0027] 4) High performance: heterogeneous plug-ins use multi-threaded concurrency, which greatly improves the efficiency of solving heterogeneous simulation models.

[0028] 5) High reliability, using the system's high-precision clock for instruction synchronization to ensure the accuracy of the simulation.

[0029] 6) Wide application scenarios: Because this architecture is well compatible with various heterogeneous simulation plug-ins, it can undertake simulation experiments in various scenarios in the future.

[0030] 7) Simple operation: Using visual UI technology, users can operate more easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the integrated architecture of the heterogeneous simulation model of multi-domain warfare of the present invention;

[0032] Figure 2 It is a schematic diagram of a heterogeneous simulation system for multi-domain warfare of the present invention;

[0033] Figure 3 It is a schematic diagram of the interaction between instructions and simulation data of the present invention;

[0034] Figure 4 It is a schematic diagram of the instruction control flow of the present invention. DETAILED DESCRIPTION

[0035] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0036] According to the accompanying drawings, the present invention is further described:

[0037] like Figures 1 to 4 As shown, the heterogeneous simulation model integration architecture for multi-domain operations includes a main control system, a simulation terminal system, a collaborative control system, an operating rod, and multiple heterogeneous simulation systems. The main control system is used to connect multiple heterogeneous simulation systems, and the simulation terminal system is respectively connected to the heterogeneous simulation systems, the operating rod, and the collaborative control system. The specific functions are as follows:

[0038] Main control system: This system is an existing system in the simulation platform, responsible for the integrated configuration of simulation model plug-ins, clock advancement, simulation instruction coordination control, and scenario editing. In order to facilitate user use, a visual UI design is adopted; in order to make the simulation more realistic, a system high-precision timer is used to advance clock instructions; in order to synchronize instructions for more distributed simulation platforms, the TCPSelect model communication method is adopted.

[0039] Heterogeneous simulation system: Heterogeneous simulation system includes simulators for aircraft, ships, aircraft carriers, bombers, anti-aircraft missiles, etc. Heterogeneous simulation system is realized by mounting different high-fidelity simulation plug-ins on the simulation platform. For example, for heterogeneous aircraft simulation, high-fidelity plug-ins and related functional plug-ins need to be mounted; for ship simulation platform, high-fidelity plug-ins and related functional plug-ins need to be mounted for ships.

[0040] Simulation terminal system: This system is an existing system in the simulation platform, responsible for the access of human-in-the-loop and intelligent control terminals. The control access of human-in-the-loop includes simulation pole machine UDP pole, etc., and the access of intelligent terminal includes intelligent system, UI mobile, etc. The simulation terminal and the simulation platform use TCP point-to-point communication to interact with control commands.

[0041] Joystick: Standard customized joystick. According to the use requirements, it can be driven by USB interface to perform corresponding key operations on the customized joystick API, which has strong expansion functions.

[0042] Collaborative control system: The heterogeneous simulation system for multi-domain operations not only supports human-in-the-loop simulation experiments, but can also be connected to the collaborative control system to conduct mission decision-making simulation experiments based on the mission planning of the collaborative system.

[0043] It should be noted that the integrated architecture needs to be connected to different heterogeneous simulation systems. The connected heterogeneous simulation systems first need to be customized for the secondary interface, and then added to the heterogeneous simulation integrated architecture for real-time simulation experiments. The heterogeneous simulation platform for multi-domain operations not only needs better compatibility with heterogeneous simulation systems, but also needs to process simulation instructions, including simulation assumptions, simulation initialization / start / pause / stop, human-in-the-loop joystick instructions, intelligent control instructions, collaborative control instructions, simulation external data publishing and subscription instructions, etc. The specific functions are as follows:

[0044] Command interaction module: In order to better access human-in-the-loop and intelligent control, the simulation platform adds a motor command control management module. This module adopts object-oriented polymorphic design ideas to be compatible with the access of various motor commands.

[0045] Network management module: Currently, heterogeneous simulation integrated architecture mainly uses TCP, UDP, DDS and other technologies for network command and data interaction. This functional module is responsible for the information management of each system access end to ensure the integrity of data and command interaction between various systems.

[0046] Settings management module: responsible for the management of the overall heterogeneous simulation platform settings project, including simulation advancement steps, information of each integrated system, plug-in integration plan (including the serial and parallel mechanism of the plug-in, the execution order of the plug-in), etc.

[0047] Scenario data management module: responsible for parsing the standard format of XML scenario files. The parsed data needs to be saved in the internal interactive management data module to provide scenario data for the heterogeneous simulation system. Scenario data includes basic information (height, location, etc.) of the combat area and combat simulation unit.

[0048] Maneuver command management module: responsible for command control with the collaborative system, including sensor control, relay guidance, tactical induction, maneuver assistance reminders and other decisions.

[0049] Internal data management module: The heterogeneous simulation model uses memory for data interaction, and the interactive data is managed by the internal data management module in the simulation platform architecture. This module adopts the flyweight design method to ensure the uniqueness of the data.

[0050] External data interaction module: Heterogeneous simulation models use DDS for external interaction of simulation data. The interaction data of each simulation platform includes entity data, electromagnetic data, key events, etc. Each simulation platform uses DDS to subscribe to the data of other simulation platforms participating in the simulation experiment, and saves the subscribed data in the internal data management module, waiting for the use of simulation solution. When the solution is completed, the data is sent through the DDS publishing mechanism to provide simulation data for other simulation platforms for simulation experiments.

[0051] It should be noted that the DDS technology application solution is as follows: DS, Data Distribution Service, is a new generation of distributed real-time communication middleware protocol, which adopts a publish / subscribe architecture, emphasizes data-centricity, and provides a rich QoS service quality strategy to ensure real-time, efficient and flexible data distribution, which can meet the needs of various distributed real-time communication applications. DDS is a data-centric middleware protocol and API standard, which means that users only care about the data they want. The data is identified by Topic, so that publishers publish data according to topics, and subscribers subscribe to data according to the topics they are interested in. This is the core of DDS, the data-centric publish-subscribe model DCPS (Data-Centric Publish-Subscribe).

[0052] Plug-in management module: responsible for the business control process management of all simulation plug-ins, including aircraft, missiles, radars, fire control, electronic warfare, data fusion, task processing, data subscription and publishing plug-ins.

[0053] In this embodiment, the standardized integration of plug-ins is for better expansion and compatibility. The heterogeneous simulation model of multi-domain operations adopts FMI interface design. The FMI interface standard not only stipulates the way of data transmission, but also standardizes the control method of the controller. The system can automatically judge and handle problems that arise in the joint simulation process by obtaining the status information of the function, and realize the simulation control of multidisciplinary complex systems. The FMI standardized interface includes two parts: joint simulation function and status information. Among them, the joint simulation function is roughly divided into three categories: controller function, subsystem execution function, and subsystem status function; there are three types of joint simulation status: controller execution information, subsystem execution information, and subsystem status information. Controller functions include instantiation function, initialization function, termination function, reset system function, and release instance function; subsystem execution functions include simulation execution function, simulation interrupt function, input parameter setting function, and output parameter acquisition function.

[0054] In this embodiment, the heterogeneous simulation model integration architecture uses Ethernet and DDS communication technologies to achieve interconnection, intercommunication, and interoperability. Ethernet interactions include TCP and UDP (point-to-point, broadcast, and multicast). When reliable communication is required, TCP communication is used, such as the issuance and synchronization of instructions; when unreliable communication with other systems is required, UDP communication is used, such as flat-bottom display and mirror systems. Since there are many interactive systems, it is necessary to standardize the protocols and adapt the protocols of different systems to ensure better integration of various systems.

[0055] It should be further explained that the hypothetical control instruction processing flow of the heterogeneous simulation system includes the following steps: when the instruction interaction module receives the hypothetical control instruction, it verifies the correctness of the instruction to ensure the correctness of the instruction; when the hypothetical instruction and data are correct, the simulation hypothetical XML file is parsed, and the parsed hypothetical data is saved in the internal storage module, waiting to be used when the simulation is executed.

[0056] Specifically, the collaborative control instruction processing flow of the heterogeneous simulation system includes the following steps: after receiving the collaborative control instruction, a validity check is performed to first ensure the correctness of the instruction; when the instruction is correct, the instruction is handed over to the collaborative control system for processing the corresponding instruction, and the instruction includes sensor parameter adjustment, relay target guidance and maneuver auxiliary decision reminder; when the collaborative decision-making module receives the sensor parameter adjustment, the adjusted parameters are saved in the internal data management module, and when waiting for the next simulation solution, the sensor plug-in adjusts the parameters. The other instruction processing processes are the same as the above process.

[0057] In this example, the simulation control instruction processing flow of the heterogeneous simulation system includes the following steps: when receiving the simulation instruction, first determine the simulation state of the current simulation simulator, and then switch to the corresponding simulation state according to the current state. Specifically, the state machine switching process of the heterogeneous simulation system includes the following steps:

[0058] 1) When executing the simulation initialization instruction, it is necessary to load the simulation scenario and the situation before and after the simulation, and load the scenario data from the internal interactive data; load the current simulation configuration scheme through the scenario data, including the simulation operation mechanism and the execution order of the heterogeneous simulation plug-ins; perform the simulation plug-in initialization operation on the simulation plug-in to provide preliminary preparation for starting the simulation;

[0059] 2) When executing the simulation start instruction, in order to obtain the simulation data of other heterogeneous simulation systems, the simulation data is subscribed, and then the subscribed simulation data is saved in the internal interactive data module, waiting for the use of plug-in solution; the heterogeneous simulation model is solved according to the scheduling mechanism of the simulation model, and after the solution, the data in the external interactive data management is used for data release, and the solved simulation data is provided to other heterogeneous simulation systems;

[0060] 3) When executing simulation pause, the simulation model is paused and solved according to the scheduling mechanism of the heterogeneous simulation model;

[0061] 4) When the simulation is stopped, the simulation model is stopped and solved according to the scheduling mechanism of the heterogeneous simulation model.

[0062] This architecture has the characteristics of strong scalability, high stability, good compatibility, good performance, wide application scenarios and simple operation. It adopts FMI interface standardization and is compatible with multiple heterogeneous simulation plug-ins. Heterogeneous plug-ins use multi-threaded concurrency, which greatly improves the solution efficiency of heterogeneous simulation models and can meet the simulation experiment needs of various scenarios.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A heterogeneous simulation model integration architecture for multi-domain operations, characterized by: It includes a main control system, a simulation terminal system, a collaborative control system, an operating rod and multiple heterogeneous simulation systems. The main control system is used to connect multiple heterogeneous simulation systems. The simulation terminal system is respectively connected to the heterogeneous simulation systems, the operating rod and the collaborative control system, wherein: The main control system is used for integrated configuration of simulation model plug-ins, clock advancement, simulation instruction collaborative control and assumption data editing. The main control system uses a system high-precision timer to advance clock instructions and adopts the TCPSelect model communication method; The heterogeneous simulation system realizes an aircraft simulation simulator, a ship simulation simulator, an aircraft carrier simulation simulator, a bomber simulation simulator and an air defense missile simulation simulator by mounting different high-fidelity simulation plug-ins; The simulation terminal system is used for accessing the human-in-the-loop control terminal and the intelligent control terminal. The human-in-the-loop control terminal is used to access the simulation rod machine and the UDP rod, and the intelligent control terminal is used to access the intelligent system and UI mobility. The simulation terminal and the simulation platform use TCP point-to-point communication mode to interact with control instructions; The joystick is driven via a USB interface and performs corresponding key operations on the customized joystick API; The collaborative control system is used to perform task decision-making simulation experiments; The heterogeneous simulation system includes an instruction interaction module, a network management module, a setting management module, a scenario data management module, a maneuver instruction management module, an internal data management module, an external data interaction module and a plug-in management module, wherein: The command interaction module adopts an object-oriented polymorphic design concept and is used to be compatible with the access of various motor commands; The network management module is responsible for the information management of each system access terminal, ensuring the integrity of data and command interaction between each system; The setting management module is responsible for the management of the overall heterogeneous simulation platform setting items, including the simulation advancement step, the information setting of the integrated system and the plug-in integration scheme, and the plug-in integration scheme includes the serial and parallel mechanism of the plug-in and the plug-in execution order; The scenario data management module is responsible for parsing the standard format of the XML scenario file. The parsed data needs to be saved in the internal interactive management data module to provide the scenario data of the simulation experiment for the heterogeneous simulation system. The scenario data includes the basic information of the combat area and the combat simulation unit. The mobile command management module is responsible for command control with the collaborative system, including sensor control, relay guidance, tactical induction, and mobile auxiliary reminder decision-making; The internal data management module is used to manage interactive data. The internal data management module adopts a flyweight design method to ensure the uniqueness of the data. The external data interaction module uses DDS to perform external interaction of simulation data; The plug-in management module is responsible for the business control process management of all simulation plug-ins, including aircraft plug-ins, missile plug-ins, radar plug-ins, fire control plug-ins, electronic warfare plug-ins, data fusion plug-ins, task processing plug-ins, and data subscription and publishing plug-ins.

2. The heterogeneous simulation model integration architecture for multi-domain operations according to claim 1, characterized in that: The heterogeneous simulation system adopts FMI interface design. The FMI interface standard stipulates the data transmission method and also standardizes the control method of the controller. The heterogeneous simulation system can automatically judge and handle problems arising in the joint simulation process by obtaining the status information of the function, thereby realizing the simulation control of multidisciplinary complex systems.

3. The heterogeneous simulation model integration architecture for multi-domain operations according to claim 1 is characterized in that: The heterogeneous simulation system uses Ethernet and DDS communication technologies to achieve interconnection, intercommunication and interoperability, wherein: The Ethernet interaction includes TCP mode and UDP mode. When the heterogeneous simulation system needs reliable communication, the TCP communication mode is adopted; when the heterogeneous simulation system needs unreliable communication with other systems, the UDP communication mode is adopted.

4. The heterogeneous simulation model integration architecture for multi-domain operations according to claim 1, characterized in that: The hypothetical control instruction processing flow of the heterogeneous simulation system includes the following steps: when the instruction interaction module receives the hypothetical control instruction, the instruction correctness is checked to ensure the correctness of the instruction; when the hypothetical instruction and data are correct, the simulation hypothetical XML file is parsed, and the parsed hypothetical data is saved in the internal storage module, waiting to be used when the simulation is executed.

5. The heterogeneous simulation model integration architecture for multi-domain operations according to claim 1, characterized in that: The collaborative control instruction processing flow of the heterogeneous simulation system includes the following steps: after receiving the collaborative control instruction, a validity check is performed to first ensure the correctness of the instruction; when the instruction is correct, the instruction is handed over to the collaborative control system for processing the corresponding instruction, and the instruction includes sensor parameter adjustment, relay target guidance and maneuver auxiliary decision reminder; When the collaborative decision-making module receives the sensor parameter adjustment, it saves the adjusted parameters to the internal data management module and waits for the next simulation solution for the sensor plug-in to adjust the parameters. The other instruction processing procedures are the same as the above process.

6. The heterogeneous simulation model integration architecture for multi-domain operations according to claim 1, characterized in that: The simulation control instruction processing flow of the heterogeneous simulation system includes the following steps: when a simulation instruction is received, firstly the simulation state of the current simulation simulator is determined, and then the corresponding simulation state is switched according to the current state.

7. The heterogeneous simulation model integration architecture for multi-domain operations according to claim 6, characterized in that: The state machine switching process of the heterogeneous simulation system includes the following steps: 1) When executing the simulation initialization instruction, it is necessary to load the simulation scenario and the situation before and after the simulation, and load the scenario data from the internal interactive data; load the current simulation configuration scheme through the scenario data, including the simulation operation mechanism and the execution order of heterogeneous simulation plug-ins; perform the simulation plug-in initialization operation on the simulation plug-in to provide preliminary preparation for starting the simulation; 2) When executing the simulation start instruction, in order to obtain the simulation data of other heterogeneous simulation systems, the simulation data is subscribed, and then the subscribed simulation data is saved in the internal interactive data module, waiting for the use of plug-in solution; the heterogeneous simulation model is solved according to the scheduling mechanism of the simulation model, and after the solution, the data in the external interactive data management is used for data release, and the solved simulation data is provided to other heterogeneous simulation systems; l 3) When executing simulation pause, the simulation model is paused and solved according to the scheduling mechanism of the heterogeneous simulation model; 4) When the simulation is stopped, the simulation model is stopped and solved according to the scheduling mechanism of the heterogeneous simulation model.

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