A trajectory generation method, system, medium and device for a physical training ground

Abstract

The present application provides a method, system, medium and device for generating a trajectory of a physical training ground. The method for generating a trajectory of a physical training ground comprises the following steps: building a model of a proportionally scaled virtual training ground based on the size data of the actual training ground; establishing a proportionally scaled geographic coordinate system and altitude coordinate system in the virtual training ground based on the actual geographic coordinate range and altitude coordinate range of the actual training ground; acquiring the geographic coordinate data and altitude data of the physical equipment in the actual training ground once at a predetermined interval, and displaying an identification point at the corresponding geographic coordinate and altitude coordinate in the virtual training ground; connecting all identification points corresponding to the same physical equipment in sequence according to the order of display time, and generating the motion trajectory of the current physical equipment in the virtual training ground. The technical solution of the present application can generate three-dimensional trajectory information for equipment training in an actual training ground.

Description

Technical Field

[0001] The present application relates to the technical field of equipment training, and in particular to a trajectory generation method, system, medium and equipment for a physical training ground. Background Art

[0002] In the field of equipment training, in order to obtain various data when personnel wear equipment for training, they generally wear various smart devices to obtain personnel's heart rate, location information, trajectory information, etc.

[0003] As for trajectory information, the prior art generally only obtains planar trajectory information, and does not record the terrain information passed during training. As a result, when reviewing the training data later, it is impossible to make an effective judgment on the training status of the personnel at that time by combining the terrain information.

[0004] Therefore, how to design a method that can effectively display the three-dimensional trajectory information of equipment training in an actual training field has become a research hotspot in the field of equipment training. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a trajectory generation method for a physical training ground, which can generate three-dimensional trajectory information for equipment training in an actual training ground.

[0006] The second purpose of the embodiment of the present application is to provide a system that can implement the trajectory generation method of the above-mentioned physical training ground.

[0007] The third purpose of the embodiment of the present application is also to provide a computer storage medium, which stores a computer program, and when the program is executed by a processor, it implements the trajectory generation method of the physical training ground in the above-mentioned scheme.

[0008] According to a fourth aspect of the present application, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and when the program is executed by the processor, the trajectory generation method of the physical training ground in the above-mentioned scheme is implemented.

[0009] In a first aspect, a method for generating a trajectory of a physical training ground is provided, comprising the following steps:

[0010] Step S1, building a proportionally scaled model of a virtual training ground based on the size data of the actual training ground;

[0011] Step S2, based on the actual geographic coordinate range and altitude coordinate range of the actual training ground, establishing a proportionally scaled geographic coordinate system and altitude coordinate system in the virtual training ground;

[0012] Step S3, obtaining the geographic coordinate data and altitude data of the physical equipment in the actual training field once at a predetermined interval, and displaying an identification point at the corresponding geographic coordinates and altitude coordinates in the virtual training field;

[0013] Step S4: connect all identification points corresponding to the same physical equipment in sequence according to the order of display time, and generate a motion trajectory of the current physical equipment in the virtual training ground.

[0014] In an implementable solution, between step S2 and step S3, the following is further included:

[0015] Step S21, setting a location point in the actual training field, and obtaining the geographic coordinate data and altitude coordinate data of the location point in the actual training field, reading the geographic coordinate data and altitude coordinate data of the point corresponding to the location point in the actual training field in the model of the virtual training field, and comparing the data of the two;

[0016] Step S22: If the difference between the two data is within the preset range, continue to execute step S3; if the difference between the two data is not within the preset range, correct the geographic coordinate system and altitude coordinate system of the virtual training ground.

[0017] In an practicable solution, the correction of the geographic coordinate system and the altitude coordinate system of the virtual training ground includes the following steps:

[0018] Step S221: build at least four correction points that are not in the same plane in the physical training ground, obtain the geographic coordinate data and altitude coordinate data of all the correction points multiple times, and calculate the average value of the geographic coordinate data and the average value of the altitude coordinate data of each correction point;

[0019] Step S222: finding the point to be corrected corresponding to the correction point in the actual training ground in the model of the virtual training ground, and modifying the geographic coordinate data and altitude coordinate data of the corresponding point to be corrected in the virtual training ground into the geographic coordinate data and altitude coordinate data of the corresponding correction point;

[0020] Step S223, calculating the difference between the coordinate data of the point to be corrected after correction and the coordinate data before correction, and synchronously correcting the geographical coordinates and altitude coordinates of the entire virtual training ground;

[0021] Step S224, repeat steps S21 and S22.

[0022] In an practicable solution, after step S4, the method further includes:

[0023] Step S5, obtain the time interval and trajectory distance between the first marking point and the last marking point, calculate the average speed between adjacent marking points, and add corresponding colors to the motion trajectory between the corresponding marking points, with different speeds corresponding to different colors.

[0024] In an practicable solution, after step S5, the method further includes:

[0025] S6. Store the current motion trajectory and the average speed data contained therein into a trajectory database.

[0026] In an practicable solution, after step S5, the method further includes:

[0027] S7. Compare the current motion trajectory with the motion trajectory in the previous training, and output the difference between the two motion trajectories and the difference in average speed between the marked points.

[0028] In an implementable solution, after step S1 and step S2, the method further includes:

[0029] The virtual training ground model with established geographic coordinate system and altitude coordinate system is stored in the virtual training ground model library.

[0030] In the second aspect, a physical training ground trajectory generation system is also provided, including a virtual module, a physical module and a communication module, the virtual module including a model building module, a coordinate establishment module, an identification module and a trajectory generation module; the physical module including a coordinate acquisition module; the communication module is used to realize data communication between the virtual module and the physical module; the coordinate acquisition module is set on the physical equipment of the physical training ground, and is used to obtain the actual geographic coordinate data and altitude coordinate data of the physical equipment; the model building module is used to build a proportionally scaled model of the virtual training ground based on the size data of the actual training ground; the coordinate establishment module is used to build a proportionally scaled model of the virtual training ground based on the actual geographic coordinate range and altitude coordinate data of the actual training ground The altitude coordinate range is used to establish a proportionally scaled geographic coordinate system and altitude coordinate system in the virtual training ground; the coordinate acquisition module acquires the geographic coordinate data and altitude coordinate data of the physical equipment at a predetermined interval, and transmits the geographic coordinate data and altitude coordinate data to the identification module through the communication module. The identification module displays an identification point at the corresponding geographic coordinate and altitude coordinate in the virtual training ground according to the geographic coordinate data and altitude data of the physical equipment in the actual training ground each time; the trajectory generation module is used to connect all the identification points corresponding to the same physical equipment in the order of display time, and generate the movement trajectory of the current physical equipment in the virtual training ground.

[0031] In a third aspect, a computer storage medium is also provided, which stores a computer program, and when the program is executed by a processor, the trajectory generation method of the physical training ground in the above scheme is implemented.

[0032] In a fourth aspect, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and when the program is executed by the processor, the trajectory generation method of the physical training ground in the above-mentioned scheme is implemented.

[0033] Compared with the prior art, the beneficial effects of this application are:

[0034] The trajectory generation method of the present application obtains the geographic coordinates and altitude coordinates of the physical equipment in the physical training ground at a predetermined time, and displays the corresponding identification points mapped to the coordinates of the current physical equipment in the three-dimensional model of the virtual training ground, and connects the identification points in the three-dimensional space in chronological order, thereby obtaining a motion trajectory in the three-dimensional space. Since the motion trajectory not only contains the trajectory of changes in geographic coordinates, but also contains the trajectory of changes in altitude coordinates, in the later review, the data of position changes on the plane and climb changes in height can be combined to analyze the equipment training, and then combined with the terrain information of the virtual training ground passed by the motion trajectory, a later review analysis of a nearly real scene can be achieved, thereby improving the accuracy and effectiveness of the review analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 It is a flow chart of a method for generating a trajectory of a physical training ground according to an embodiment of the present application;

[0037] Figure 2 It is a flow chart of another method for generating a trajectory of a physical training ground according to an embodiment of the present application;

[0038] Figure 3 It is a block diagram of a trajectory generation system for a physical training ground according to an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] According to the first aspect of the present application, Figure 1 As shown, firstly, a trajectory generation method of a physical training ground is provided, comprising the following steps:

[0042] Step S1: Building a proportionally scaled model of a virtual training ground based on the size data of the actual training ground.

[0043] The actual training field data in the above step S1 can be measured using oblique photogrammetry technology with an accuracy of centimeters. The virtual training field established based on this accuracy can basically fully map the topographic model of the actual training field. The physical training field can include a combination of one or more of land, air and sea areas. The size data of the actual training field includes one or more of terrain size data, vegetation size data, building size data, road data, river flow direction and width data, lake shape and depth data, etc.

[0044] Step S2: Based on the actual geographic coordinate range and altitude coordinate range of the actual training ground, a proportionally scaled geographic coordinate system and altitude coordinate system are established in the virtual training ground.

[0045] The above step S2 is to obtain the geographic coordinate range based on the latitude and longitude information of the actual training field, obtain the altitude coordinate range of its different positions based on the surveying and mapping data of the actual training field, and then establish a scaled geographic coordinate system and altitude coordinate system in the virtual training field based on the size scaling ratio of the virtual training field and the actual training field and the actual geographic coordinate range and altitude coordinate range of the actual training field.

[0046] Step S3, obtaining the geographic coordinate data and altitude data of the physical equipment in the actual training field once at a predetermined interval, and displaying an identification point at the corresponding geographic coordinates and altitude coordinates in the virtual training field.

[0047] The identification point in the above step S3 includes geographic coordinate information (i.e., longitude and latitude coordinate information) and altitude coordinate information, so the identification point represents a coordinate point in a three-dimensional space. In addition, the physical equipment can be ground equipment, underwater equipment, air equipment, amphibious equipment, etc. At the same time, the equipment can be a wearable device for personnel, or a device for personnel to drive.

[0048] Step S4: connect all identification points corresponding to the same physical equipment in sequence according to the order of display time, and generate a motion trajectory of the current physical equipment in the virtual training ground.

[0049] The method steps of the above embodiments S1 to S4 are to obtain the geographical coordinates and altitude coordinates of the physical equipment in the physical training ground at a predetermined time, and to display the corresponding identification points mapped to the coordinates of the current physical equipment in the three-dimensional model of the virtual training ground, and connect the identification points in the three-dimensional space in chronological order, so as to obtain a motion trajectory in the three-dimensional space. Since the motion trajectory not only contains the trajectory of changes in geographical coordinates, but also contains the trajectory of changes in altitude coordinates, in the later review, the data of position changes on the plane and climb changes in height can be combined to analyze the equipment training, and then combined with the terrain information of the virtual training ground through which the motion trajectory passes, the later review analysis of the nearly real scene can be realized, and the accuracy and effectiveness of the review analysis can be improved.

[0050] In one embodiment, step S3 also includes: when obtaining the geographic coordinate data and altitude data of the physical equipment in the actual training field, simultaneously obtaining the environmental data at the physical equipment, and binding the environmental data to the corresponding identification point, when viewing later, by selecting the identification point, the environmental data at the corresponding identification point can be displayed, so as to facilitate the analysis of the training situation in combination with the environmental data later. The environmental data includes but is not limited to data such as temperature, wind force, wind direction, etc., and corresponding sensors can be installed on the physical equipment to obtain corresponding sensor data.

[0051] In one embodiment, step S3 further includes: when obtaining the geographic coordinate data and altitude data of the physical equipment in the actual training field, simultaneously obtaining the instantaneous speed and acceleration data at the physical equipment, and binding the instantaneous speed and acceleration data to the corresponding identification point, when checking later, by selecting the identification point, the speed data at the corresponding identification point can be displayed, so as to analyze the training situation in combination with the speed data later. The instantaneous data can be obtained by installing acceleration and speed sensors on the physical equipment.

[0052] In one embodiment, step S3 further includes: when obtaining the geographic coordinate data and altitude data of the physical equipment in the actual training field, simultaneously obtaining the image data at the physical equipment, and binding the image data to the corresponding identification point, when viewing later, by selecting the identification point, the image data at the corresponding identification point can be displayed, so as to facilitate the later combination of the image data for real scene analysis. The image data can be a 360-degree panoramic image or video data at the physical equipment obtained by a camera.

[0053] In one embodiment, when viewing later, by selecting a marker point, the geographic coordinate data and altitude coordinate data of the corresponding marker point can be displayed.

[0054] In one implementation, based on the above embodiment, after step S4, after obtaining the motion trajectory, the motion trajectory can be saved in a trajectory database together with the corresponding terrain data, environmental data, speed data, etc. in the virtual training ground, so as to facilitate comparative learning and comparative analysis in later training.

[0055] In one embodiment, between step S2 and step S3, the method further comprises:

[0056] Step S21, setting a location point in the actual training field, and obtaining the geographic coordinate data and altitude coordinate data of the location point in the actual training field, reading the geographic coordinate data and altitude coordinate data of the point corresponding to the location point in the actual training field in the model of the virtual training field, and comparing the data of the two;

[0057] For the location point in step S21, the geographic coordinate data and altitude coordinate data of this point may be obtained multiple times and the average value may be taken to reduce the measurement error.

[0058] Step S22: If the difference between the two data is within the preset range, continue to execute step S3; if the difference between the two data is not within the preset range, correct the geographic coordinate system and altitude coordinate system of the virtual training ground.

[0059] Steps S21 and S22 are to correct the coordinate mapping relationship between the virtual training ground and the physical training ground, thereby improving the simulation accuracy of the virtual training ground to the physical training ground, so as to obtain more accurate coordinate data and terrain data of the physical equipment in the virtual training ground.

[0060] In one embodiment, the correction of the geographic coordinate system and the altitude coordinate system of the virtual training ground includes the following steps:

[0061] Step S221: build at least four correction points that are not in the same plane in the physical training ground, obtain the geographic coordinate data and altitude coordinate data of all the correction points multiple times, and calculate the average value of the geographic coordinate data and the average value of the altitude coordinate data of each correction point;

[0062] Step S222: finding the point to be corrected corresponding to the correction point in the actual training ground in the model of the virtual training ground, and modifying the geographic coordinate data and altitude coordinate data of the corresponding point to be corrected in the virtual training ground into the geographic coordinate data and altitude coordinate data of the corresponding correction point;

[0063] Step S223, calculating the difference between the coordinate data of the point to be corrected after correction and the coordinate data before correction, and synchronously correcting the geographical coordinates and altitude coordinates of the entire virtual training ground;

[0064] Step S224, repeat steps S21 and S22.

[0065] The data of the above four correction points that are not in the same plane include both geographic coordinate data and altitude coordinate data, which is equivalent to selecting a small-range three-dimensional correction coordinate system in the physical training ground. By measuring the coordinate data of the four points, there are also four corresponding points to be corrected in the virtual training ground. The four points to be corrected establish a three-dimensional comparison coordinate system in the virtual training ground. By calculating the azimuth difference between the three-dimensional correction coordinate system and the three-dimensional comparison coordinate system, the coordinate difference between the entire virtual training ground and the actual training ground is obtained, thereby realizing the correction of the coordinate system of the virtual training ground.

[0066] It should be noted that the points to be corrected in the model of the virtual training ground corresponding to the correction points in the actual training ground are found through the relationship of terrain mapping. For example, if a correction point is set somewhere on the hillside of the actual training ground, then a point on the hillside of the virtual training ground will be used as the point to be corrected. Preferably, the correction points are preferentially selected from the terrain layout with higher altitudes and more obvious features in the physical training ground, so that the corresponding points to be corrected can be found more easily in the virtual training ground according to the terrain.

[0067] In one embodiment, Figure 2 As shown, after step S4, it also includes:

[0068] Step S5, obtain the time interval and trajectory distance between the first marking point and the last marking point, calculate the average speed between adjacent marking points, and add corresponding colors to the motion trajectory between the corresponding marking points, with different speeds corresponding to different colors.

[0069] For the method of step S5, by comparing the average speeds between multiple different adjacent identification points and combining the terrain information between two identification points in the virtual training ground, it is convenient to analyze the impact of terrain on the speed of physical equipment at different positions, so as to review the impact of terrain on physical equipment and evaluate the performance of physical equipment.

[0070] In one embodiment, after step S5, the method further comprises:

[0071] S6. Store the current motion trajectory and the average speed data contained therein into a trajectory database so as to compare with the motion trajectory of the next training.

[0072] In one embodiment, after step S5, the method further comprises:

[0073] S7. Compare the current motion trajectory with the motion trajectory in the previous training, and output the difference between the two motion trajectories and the difference in average speed between the marked points.

[0074] In step S7, in addition to outputting the difference in average speed, the trajectory route, the instantaneous speed of the marked point, the temperature at the marked point, the difference in wind force and direction, etc. can also be output.

[0075] When the physical equipment is improved and the new motion trajectory is obtained after the physical equipment is trained again, the historical motion trajectory in the trajectory database can be called up for comparison during the review to compare the improvement effect of the physical equipment.

[0076] In one embodiment, after step S1 and step S2, the virtual training ground model with established geographic coordinate system and altitude coordinate system is stored in a virtual training ground model library. When a different virtual training ground needs to be switched, it can be directly retrieved from the virtual training ground model library, saving time and improving efficiency.

[0077] To sum up, the motion trajectory generated in this embodiment may include geographic coordinate data and altitude coordinate data, environmental data, instantaneous speed data, acceleration data, average speed data, etc., and also includes the terrain information passed by the motion trajectory, so as to realize multi-faceted re-analysis through the motion trajectory in the later stage.

[0078] At the same time, the virtual training ground built by the technical solution of the present application is equivalent to a twin digital training ground of the physical training ground. The physical training ground and the virtual training ground realize the virtual and real binary combination of training, intuitively display assembly training information, improve evaluation accuracy, and facilitate the preservation of historical training data, which is convenient for comparative training in subsequent training.

[0079] According to the second aspect of this application, if Figure 3As shown, a physical training ground trajectory generation system is also provided, including a virtual module 10, a physical module 20 and a communication module 30, wherein the virtual module 10 includes a model building module 11, a coordinate establishment module 12, an identification module 13 and a trajectory generation module 14. The physical module 20 includes a coordinate acquisition module 21. The communication module 30 is used to realize data communication between the virtual module 10 and the physical module 20. The coordinate acquisition module 21 is arranged on the physical equipment of the physical training ground, and is used to obtain the actual geographic coordinate data and altitude coordinate data of the physical equipment. The model building module 11 is used to build a model of a virtual training ground that is scaled in proportion based on the size data of the actual training ground. The coordinate establishment module 12 is used to establish a scaled geographic coordinate system and altitude coordinate system in the virtual training ground based on the actual geographic coordinate range and altitude coordinate range of the actual training ground. The coordinate acquisition module 21 acquires the geographic coordinate data and altitude coordinate data of the physical equipment at predetermined intervals, and transmits the geographic coordinate data and altitude coordinate data to the identification module 13 through the communication module 30. The identification module 13 displays an identification point at the corresponding geographic coordinate and altitude coordinate in the virtual training ground according to the geographic coordinate data and altitude data of the physical equipment in the actual training ground each time. The trajectory generation module 14 is used to connect all identification points corresponding to the same physical equipment in sequence according to the order of display time, and generate the movement trajectory of the current physical equipment in the virtual training ground.

[0080] In one embodiment, the physical module 20 may also include an acceleration sensor, a speed sensor, a wind force and speed sensor, a temperature sensor, etc., and is used to obtain the acceleration, speed, wind force, direction and speed information, temperature information, etc. of the training equipment. This data is transmitted to the trajectory generation module 14 of the virtual module 10 through the communication module 30. The trajectory generation module 14 binds the acceleration, speed, wind force, direction and speed information, temperature information, etc. at the corresponding position to the corresponding identification point.

[0081] In one embodiment, the entity module 20 further includes a display module, which is used to display relevant data and data changes in the virtual training ground.

[0082] In one embodiment, the virtual module 10 may further include a correction module, an average speed calculation module, a storage module, etc. The correction module may implement steps S21, S22, S221 to S224 in the trajectory generation method. The average speed calculation module may implement step S5 in the trajectory generation method. The storage module may store the motion trajectory in a trajectory database, or may store the model of the virtual training ground in a virtual training ground model library.

[0083] In one embodiment, the virtual module 10 further includes a comparison module, which is used to retrieve the historical motion trajectory and various data contained therein from the trajectory database, and compare them with the newly generated motion trajectory and various data contained therein.

[0084] According to a third aspect of the present application, a computer storage medium is also provided, which stores a computer program, and when the program is executed by a processor, the trajectory generation method of the physical training ground in the above-mentioned scheme is implemented.

[0085] According to a fourth aspect of the present application, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and when the program is executed by the processor, the trajectory generation method of the physical training ground in the above-mentioned scheme is implemented.

[0086] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A trajectory generation method for a physical training ground, characterized in that: The following steps are involved: Step S1, building a proportionally scaled model of a virtual training ground based on the size data of the actual training ground; Step S2, based on the actual geographic coordinate range and altitude coordinate range of the actual training ground, establishing a proportionally scaled geographic coordinate system and altitude coordinate system in the virtual training ground; Step S3, obtaining the geographic coordinate data and altitude data of the physical equipment in the actual training field once at a predetermined interval, and displaying an identification point at the corresponding geographic coordinates and altitude coordinates in the virtual training field; Step S4, connecting all identification points corresponding to the same physical equipment in order of display time, and generating a motion track of the current physical equipment in the virtual training ground; Between step S2 and step S3, the method further includes: Step S21, setting a location point in the actual training field, and obtaining the geographic coordinate data and altitude coordinate data of the location point in the actual training field, reading the geographic coordinate data and altitude coordinate data of the point corresponding to the location point in the actual training field in the model of the virtual training field, and comparing the data of the two; Step S22: if the difference between the two data is within the preset range, then continue to execute step S3; if the difference between the two data is not within the preset range, then correct the geographic coordinate system and altitude coordinate system of the virtual training ground; Correcting the geographic coordinate system and altitude coordinate system of the virtual training ground includes the following steps: Step S221: build at least four correction points that are not in the same plane in the physical training ground, obtain the geographic coordinate data and altitude coordinate data of all the correction points multiple times, and calculate the average value of the geographic coordinate data and the average value of the altitude coordinate data of each correction point; Step S222: finding the point to be corrected corresponding to the correction point in the actual training ground in the model of the virtual training ground, and modifying the geographic coordinate data and altitude coordinate data of the corresponding point to be corrected in the virtual training ground into the geographic coordinate data and altitude coordinate data of the corresponding correction point; Step S223, calculating the difference between the coordinate data of the point to be corrected after correction and the coordinate data before correction, and synchronously correcting the geographical coordinates and altitude coordinates of the entire virtual training ground; Step S224, repeat steps S21 and S22.

2. The trajectory generation method of the physical training ground according to claim 1 is characterized in that: After step S4, the method further includes: Step S5, obtain the time interval and trajectory distance between the first marking point and the last marking point, calculate the average speed between adjacent marking points, and add corresponding colors to the motion trajectory between the corresponding marking points, with different speeds corresponding to different colors.

3. The trajectory generation method of the physical training ground according to claim 2 is characterized in that: After step S5, the method further includes: S6. Store the current motion trajectory and the average speed data contained therein into a trajectory database.

4. The trajectory generation method of the physical training ground according to claim 3 is characterized in that: After step S5, the method further includes: S7. Compare the current motion trajectory with the motion trajectory in the previous training, and output the difference between the two motion trajectories and the difference in average speed between the marked points.

5. The trajectory generation method of the physical training ground according to claim 1 is characterized in that: After step S1 and step S2, the method further includes: The virtual training ground model with established geographic coordinate system and altitude coordinate system is stored in the virtual training ground model library.

6. A physical training ground trajectory generation system, characterized in that: The system comprises a virtual module (10), a physical module (20) and a communication module (30), wherein the virtual module (10) comprises a model building module (11), a coordinate establishing module (12), an identification module (13) and a trajectory generating module (14); and the physical module (20) comprises a coordinate acquiring module (21); The communication module (30) is used for data exchange between the virtual module (10) and the physical module (20); The coordinate acquisition module (21) is arranged on a physical device of a physical training ground, and is used to acquire actual geographic coordinate data and altitude coordinate data of the physical device; The model building module (11) is used to build a proportionally scaled model of a virtual training ground based on the size data of the actual training ground; The coordinate establishment module (12) is used to establish a proportionally scaled geographic coordinate system and an altitude coordinate system in the virtual training ground based on the actual geographic coordinate range and altitude coordinate range of the actual training ground; The coordinate acquisition module (21) acquires the geographic coordinate data and the altitude coordinate data of the physical equipment at predetermined intervals, and transmits the geographic coordinate data and the altitude coordinate data to the identification module (13) through the communication module (30); the identification module (13) displays an identification point at the corresponding geographic coordinate and altitude coordinate in the virtual training ground according to the geographic coordinate data and altitude data of the physical equipment in the actual training ground each time; The trajectory generation module (14) is used to sequentially connect all identification points corresponding to the same physical equipment according to the order of display time, and generate a motion trajectory of the current physical equipment in the virtual training ground; The virtual module (10) also includes a correction module, which is used to set a position point in the actual training field, obtain the geographical coordinate data and altitude coordinate data of the position point in the actual training field, read the geographical coordinate data and altitude coordinate data of a point in the model of the virtual training field corresponding to the position point in the actual training field, and compare the data of the two; If the difference between the two data is not within the preset range, the geographic coordinate system and altitude coordinate system of the virtual training ground are corrected; The steps of correcting the geographic coordinate system and altitude coordinate system of the virtual training ground include: At least four correction points that are not in the same plane are set up in the physical training ground, the geographic coordinate data and the altitude coordinate data of all the correction points are obtained multiple times, and the average value of the geographic coordinate data and the average value of the altitude coordinate data of each correction point is calculated; Finding the point to be corrected corresponding to the correction point in the actual training ground in the model of the virtual training ground, and modifying the geographical coordinate data and altitude coordinate data of the corresponding point to be corrected in the virtual training ground into the geographical coordinate data and altitude coordinate data of the corresponding correction point; The difference between the coordinate data of the point to be corrected after correction and the coordinate data before correction is calculated, and the geographical coordinates and altitude coordinates of the entire virtual training ground are synchronously corrected.

7. A computer storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the trajectory generation method for a physical training ground as described in any one of claims 1 to 5.

8. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the program is executed by the processor, the trajectory generation method of the physical training ground described in any one of claims 1 to 5 is implemented.

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