Control and automatic maneuvering simulation system and method applied to cluster fighter scenarios

Abstract

The present invention discloses a control and automatic maneuvering simulation method applied to cluster fighter scenarios, realizes multi-machine control and automatic maneuvering regulation in cluster fighter simulation scenarios, proposes interactive logic, and optimizes computing energy consumption. The method described in the present invention includes two parts: one is an interactive interface, and the other is an algorithm platform. The interactive interface processes three types of instructions, namely logic instructions, control instructions, and automatic maneuvering instructions. The algorithm platform starts three threads, one is the main thread, the second is the communication thread, and the third is the balancing thread. Through the communication protocol, the interactive interface transmits the instructions to the algorithm platform in real time to affect the algorithm process. After being processed by the algorithm platform, the updated state variables are obtained and transmitted to the interactive interface in real time for display. The interactive interface is separated from the background algorithm to facilitate algorithm debugging. The algorithm platform separates the more time-consuming balancing thread from the main thread to save computing time, introduces the maneuvering library instruction design, and realizes the automatic maneuvering effect of the fighter.

Description

Technical Field

[0001] The present invention relates to a control and simulation method, and in particular to a control and automatic maneuvering simulation method applied to a cluster fighter scenario. Background Art

[0002] In the field of national defense, cluster fighter confrontation is an important scenario in air combat research, mainly involving the control simulation and algorithm testing of many to many fighters.

[0003] For cluster fighter scene simulation, it mainly includes the following aspects: First, interface control, considering the input and output of logical command signals, the input and output of fighter control commands, etc. Second, the calculation of fighter dynamics model, considering focusing on low-precision dynamics model of track layer, such as three-degree-of-freedom particle model, or considering high-precision dynamics model, such as six-degree-of-freedom dynamics model with aerodynamic data. The simulation process required for models of different precisions is very different, and the impact on computing consumption and simulation fluency is also very different, requiring additional algorithm processing; third, the determination of multi-machine control protocol, cluster simulation involves the input of multi-machine control commands, remote sensing and other control commands from which device to input, which aircraft is intended to control, all need to be set in advance through the protocol, so that there will be no confusion in command and control. At the same time, the protocol between the single machine and the dispatch center also needs to be determined to achieve the overall control of the entire cluster by the command and control center.

[0004] There are many problems with the application of existing simulation technology to cluster fighter scenarios. First, the simulation of cluster dynamics increases the amount of calculation sharply, and the fluency of simulation is challenged, especially when faced with high-precision models. Even running a single-machine balancing algorithm takes a long time. Second, the coordination of multi-machine control is difficult. As the number of clusters increases, the red and blue team groups are heterogeneous, which poses a challenge to the construction of distributed centralized protocols. Third, automation is difficult. In air combat scenario simulation, fighter maneuvers are important control instructions. As the number of clusters increases and the model accuracy improves, it is difficult to achieve ideal dynamic response by retrieving automatic maneuver library instructions. Summary of the invention

[0005] The purpose of the present invention is to propose a control and automatic maneuvering simulation system and method applied to cluster fighter scenarios in view of the above-mentioned problems existing in the prior art.

[0006] A control and automatic maneuvering simulation system applied to cluster fighter scenarios, the system comprising: an algorithm platform, the algorithm platform comprising: a communication thread, a balancing thread, and a main thread;

[0007] The communication thread is used to obtain the logic instructions, control instructions, automatic maneuvering instructions and initial state variables initiated by the interactive interface;

[0008] The balancing thread is used to activate and run the balancing algorithm according to the logic instruction, update the initial state variable, and obtain the updated state variable;

[0009] The main thread is used to perform control dynamics solution according to the logic instructions and the control instructions, perform automatic maneuvering dynamics solution according to the automatic maneuvering instructions, and update the state variables to obtain the main thread simulation solution result.

[0010] In one embodiment, the system also includes an interactive interface; the interactive interface obtains and processes external input logic instructions, control instructions, and automatic maneuvering instructions, and sends the logic instructions, control instructions, and automatic maneuvering instructions to the communication thread of the algorithm platform in real time.

[0011] In one embodiment, the balancing thread is used to activate and run the balancing algorithm according to the logic instruction, and updating the initial state variables includes: the update unit in the balancing thread is used to obtain updated state variables according to the initial state variables through balancing operations, and send the updated state variables to the interactive interface through the communication thread for display.

[0012] In one embodiment, the logic instructions include a start instruction, a pause instruction, a stop instruction, and a restart instruction of the algorithm platform.

[0013] In one embodiment, the logic instructions also include instructions for operating a fighter jet with a specific number, and the instructions for operating the fighter jet with a specific number are sent when the interactive interface sends a start instruction of the algorithm platform to the algorithm platform.

[0014] In one embodiment, when the logic instruction changes, the changed logic instruction is sent to the algorithm platform in real time.

[0015] In one embodiment, after the interactive interface issues a start command and sends the number of the designated fighter jet, control instructions are obtained through the interactive interface. The control instructions include continuous real-time instructions for controlling the movement of the aircraft to achieve roll, pitch, yaw, and afterburner.

[0016] In one embodiment, the automatic maneuver instruction includes a start maneuver instruction and a maneuver number instruction.

[0017] A control and automatic maneuvering simulation method applied to a cluster fighter scenario, the method comprising:

[0018] Obtain the logic instructions, control instructions, automatic maneuvering instructions and initial state variables initiated by the interactive interface;

[0019] According to the control instruction, the running balancing algorithm is activated, the initial state variables are updated, and the updated state variables are obtained;

[0020] Performing manipulation dynamics calculation according to the logic instructions and the manipulation instructions, performing automatic maneuvering dynamics calculation according to the automatic maneuvering instructions, and updating the state variables to obtain a main thread calculation result;

[0021] According to the updated state variables and the main thread solution results, the control and automatic maneuvering simulation of the cluster fighter scene are completed.

[0022] In one embodiment, performing control dynamics solution according to the logic instructions and the control instructions, performing automatic maneuvering dynamics solution according to the automatic maneuvering instructions, and obtaining the main thread solution result also includes: establishing a maneuvering library list, and defining automatic maneuvering instructions according to the maneuvering library list.

[0023] The present invention separates the interactive interface from the background algorithm to facilitate algorithm debugging. The independent thread reduces the computer configuration requirements and can communicate between multiple machines to achieve cluster distributed computing. The background algorithm separates the more time-consuming balancing thread from the main thread to save computing time and maintain smooth use. The automatic maneuvering instructions are defined through the maneuvering library list, which is simple and easy to retrieve and can quickly achieve maneuvering effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a control and automatic maneuvering simulation system applied to a cluster fighter scenario provided by one embodiment of the present invention;

[0025] Figure 2 A flow chart of a control and automatic maneuvering simulation method applied to a cluster fighter scenario provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0027] Please also read Figure 1 , in one embodiment, a control and automatic maneuvering simulation system applied to a cluster fighter scenario is provided, the system comprising: an algorithm platform, the algorithm platform comprising: a communication thread, a balancing thread, and a main thread;

[0028] The communication thread is used to obtain the logic instructions, control instructions, automatic maneuvering instructions and initial state variables initiated by the interactive interface;

[0029] The balancing thread is used to activate and run the balancing algorithm according to the logic instruction, update the initial state variable, and obtain the updated state variable;

[0030] The main thread is used to perform control dynamics solution according to the logic instructions and the control instructions, perform automatic maneuvering dynamics solution according to the automatic maneuvering instructions, and obtain the main thread simulation solution result according to the updated state variables obtained in real time.

[0031] Specifically, starting the trim thread can speed up the trim calculation speed, and when facing a high-precision fighter dynamics model of multiple aircraft, it can make the simulation smoother. Specifically, the state variable refers to the position, speed and other dynamic parameters of the fighter, which are calculated by the simulation system based on the dynamic model and updated with the thread. Specifically, the communication thread is also used to parse the logical instructions, control instructions, and automatic maneuvering instructions launched by the interactive interface to obtain an instruction array.

[0032] In one embodiment, the system also includes an interactive interface; the interactive interface obtains and processes external input logic instructions, control instructions, and automatic maneuvering instructions, and sends the logic instructions, control instructions, and automatic maneuvering instructions to the communication thread of the algorithm platform in real time.

[0033] The present invention separates the interactive interface from the background algorithm, which is convenient for algorithm debugging. The independent thread reduces the computer configuration requirements, can communicate between multiple machines, and realize cluster distributed computing. The front-end interactive interface is used to process various control command signals and present the status response of the fighter.

[0034] In one embodiment, the trimming thread is used to activate and run the trimming algorithm according to the logic instruction, and updating the initial state variables includes: the update unit in the trimming thread is used to obtain the updated state variables according to the initial state variables through the trimming operation, and send the updated state variables to the interactive interface through the communication thread for display. Specifically, the trimming thread is updated from the initial state to the trimming state, and then the simulation system is run as usual to continue the algorithm operation. Specifically, the trimming operation is to obtain the equilibrium value of all dynamic variables through the trimming algorithm. In this equilibrium state, when there is no control, the state quantity of the aircraft remains unchanged.

[0035] The control dynamics can be described by the aircraft's N-degree-of-freedom equations, and the general fighter dynamics can be described by six-degree-of-freedom nonlinear equations.

[0036] Control dynamics solution is to calculate the state update amount through the dynamic equation based on the input control variables.

[0037] Automatic maneuvering dynamics is the control dynamics equation that enables the aircraft to automatically generate maneuvers through the automatic maneuvering algorithm. It can generally be described by a six-degree-of-freedom nonlinear motion equation. Its solution is to calculate the state update of the aircraft maneuver through this dynamics equation.

[0038] Specifically, the communication thread communicates with the interactive interface via the TCP / IP protocol.

[0039] In one embodiment, the logic instructions include a start instruction, a pause instruction, a termination instruction, and a restart instruction of the algorithm platform. In one embodiment, the logic instructions also include an instruction to operate a fighter with a specific number, and the interactive interface sends the instruction to operate the fighter with a specific number while sending the start instruction of the algorithm platform to the algorithm platform.

[0040] Specifically, the algorithm platform receives instructions to start running the simulation and at the same time controls the fighter jet with a specified number.

[0041] In one embodiment, when the logic instruction changes, the changed logic instruction is sent to the algorithm platform in real time. By transmitting the change state of the logic instruction to the algorithm platform in real time, the calculation process of the algorithm platform can be affected in real time, thereby improving the calculation efficiency.

[0042] In one embodiment, after the interactive interface issues a start command and sends the number of the designated control aircraft at the same time, the control command is obtained through the interactive interface, and the control command includes continuous real-time commands for controlling the movement of the aircraft to achieve roll, pitch, yaw, and afterburner. Specifically, after the logical command specifies the number of the control aircraft and the start control command is issued, the interactive interface can receive continuous real-time control signals of the simulation platform user through the joystick input or interface input to control the movement of the aircraft to achieve roll, pitch, yaw, afterburner, etc., and continuously send them to the background algorithm platform through the communication protocol for dynamic solution.

[0043] In one embodiment, the automatic maneuvering instruction includes a start maneuvering instruction and a maneuvering number instruction. Specifically, the maneuvering number instruction refers to selecting a number of a maneuvering instruction from a maneuvering library. The maneuvering library is pre-configured and includes instruction sequences for implementing turning maneuvers, S maneuvers, and half-turns. After selecting the automatic maneuvering, the system sends the automatic maneuvering instruction to the background algorithm platform to run the automatic maneuvering algorithm.

[0044] In one embodiment, please refer to Figure 2 , a control and automatic maneuvering simulation method applied to a cluster fighter scenario, the method comprising:

[0045] S110, obtaining logic instructions, control instructions, automatic maneuvering instructions and initial state variables initiated by the interactive interface;

[0046] S120, activating the running balancing algorithm according to the control instruction, updating the initial state variables, and obtaining updated state variables;

[0047] S140, performing manipulation dynamics calculation according to the logic instruction and the manipulation instruction, performing automatic maneuvering dynamics calculation according to the automatic maneuvering instruction, and updating the state variable to obtain a main thread calculation result;

[0048] S150, completing the control and automatic maneuvering simulation of the cluster fighter scene according to the updated state variables and the main thread solution results.

[0049] In one embodiment, performing control dynamics calculation according to the logic instructions and the control instructions, performing automatic maneuvering dynamics calculation according to the automatic maneuvering instructions, and obtaining the main thread calculation result further includes: establishing a maneuvering library list, and defining automatic maneuvering instructions according to the maneuvering library list. Specifically, the maneuvering library list is established according to user needs and may include common fighter maneuvering forms, such as S maneuver, L maneuver, U maneuver, rolling maneuver, etc.

[0050] Automatic maneuvering instructions are defined by the user based on the maneuvering library, such as simple ones like 1 for S maneuver, 2 for L maneuver, etc.

[0051] The present invention separates the interactive interface from the background algorithm to facilitate algorithm debugging. The independent thread reduces the computer configuration requirements and can communicate between multiple machines to achieve cluster distributed computing. The background algorithm separates the more time-consuming balancing thread from the main thread to save computing time and maintain smooth use. The automatic maneuvering instructions are defined through the maneuvering library list, which is simple and easy to retrieve and can quickly achieve maneuvering effects.

[0052] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A control and automatic maneuvering simulation system for cluster fighter scenarios, It is characterized in that The system comprises: an algorithm platform, wherein the algorithm platform comprises: a communication thread, a balancing thread, and a main thread; The communication thread is used to obtain the logic instructions, control instructions, automatic maneuvering instructions and initial state variables initiated by the interactive interface; the logic instructions include the start instructions, pause instructions, termination instructions and restart instructions of the algorithm platform, and also include instructions for manipulating a specific numbered fighter; the control instructions include continuous real-time instructions for controlling the movement of the aircraft to achieve roll, pitch, yaw and afterburner; the automatic maneuvering instructions include start maneuvering instructions and maneuvering number instructions; The balancing thread is used to activate and run the balancing algorithm according to the logic instruction, update the initial state variable, and obtain the updated state variable; The main thread is used to perform control dynamics solution according to the logic instructions and the control instructions, perform automatic maneuvering dynamics solution according to the automatic maneuvering instructions, and update the state variables to obtain the main thread simulation solution result.

2. The system according to claim 1, It is characterized in that The system also includes an interactive interface; the interactive interface obtains and processes externally input logic instructions, control instructions, and automatic maneuvering instructions, and sends the logic instructions, control instructions, and automatic maneuvering instructions to the communication thread of the algorithm platform in real time.

3. The system according to claim 2, It is characterized in that The balancing thread is used to activate and run the balancing algorithm according to the logic instruction, and update the initial state variables, including: the update unit in the balancing thread is used to obtain the updated state variables according to the initial state variables through balancing operations, and send the updated state variables to the interactive interface through the communication thread for display.

4. The system according to claim 3, It is characterized in that The logic instructions include a start instruction, a pause instruction, a stop instruction, and a restart instruction of the algorithm platform.

5. The system according to claim 4, It is characterized in that The logic instructions also include instructions for operating a fighter jet with a specific number, and the instructions for operating the fighter jet with a specific number are sent when the interactive interface sends a start instruction of the algorithm platform to the algorithm platform.

6. The system according to claim 5, It is characterized in that When the logic instruction changes, the changed logic instruction is sent to the algorithm platform in real time.

7. The system according to claim 5, It is characterized in that After the interactive interface issues a start command and sends the number of the designated fighter jet, the control command is obtained through the interactive interface. The control command includes continuous real-time commands for controlling the movement of the aircraft to achieve roll, pitch, yaw, and afterburner.

8. The system according to claim 7, It is characterized in that The automatic maneuver instruction includes a start maneuver instruction and a maneuver number instruction.

9. A control and automatic maneuvering simulation method applied to cluster fighter scenarios, It is characterized in that The method is applied to the system as claimed in claims 1-8, and the method comprises: Obtaining logic instructions, control instructions, automatic maneuvering instructions and initial state variables initiated by the interactive interface; According to the logic instruction, the trimming algorithm is activated and the initial state variables are updated; specifically, the update unit in the trimming thread is used to obtain the updated state variables according to the initial state variables through the trimming operation, and the updated state variables are sent to the interactive interface through the communication thread for display; the trimming thread is updated from the initial state to the trimming state, and then the simulation system is run as usual to continue the algorithm operation; the trimming operation is to obtain the balance value of all dynamic variables through the trimming algorithm, and in this balance state, the aircraft state quantity remains unchanged when there is no control; the control dynamics solution is performed according to the logic instruction and the control instruction, and the automatic maneuvering dynamics solution is performed according to the automatic maneuvering instruction to obtain the main thread solution result; According to the updated state variables and the main thread solution results, the control and automatic maneuvering simulation of the cluster fighter scene are completed.

10. The method according to claim 9, It is characterized in that The controlling dynamics solution is performed according to the logic instructions and the control instructions, and the automatic maneuvering dynamics solution is performed according to the automatic maneuvering instructions to obtain the main thread solution result, and also includes: establishing a maneuvering library list, and defining the automatic maneuvering instructions according to the maneuvering library list.

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