A virtual-real combined situation fusion display method

Abstract

The application relates to a virtual-real combined situation fusion display method, and relates to the field of situation fusion display. The application is based on an electronic map, and realizes virtual-real combined situation fusion display through three steps of virtual target simulation simulation, real-time data processing and situation data fusion display in a mode of modeling according to historical training data. In the aspect of situation fusion display, the application generates a threat target through virtual target planning and simulation by modeling historical experience knowledge, fuses a real-time action situation, forms a virtual-real combined comprehensive situation of a training field, and provides intuitive and effective support for constructing a situation awareness model and deduction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of situation fusion display, and is a virtual-real combined situation fusion display method, which can provide a comprehensive enemy-ally situation display support combining real forces and virtual targets for our training. BACKGROUND

[0002] The exercise area is interpreted as the space of the common activities of the opposing parties in the exercise, which is the basic condition for the simulation training, and the exercise area includes land, sea area and its airspace, and the space range of the exercise area is continuously widened with the development of the exercise area. Training command, training guide and all related training behaviors are based on the correct understanding and judgment of the space environment and force action in the exercise area.

[0003] The traditional training situation system only displays the action situation of the actual participating equipment, and it is difficult to provide the commander with an intuitive and comprehensive integrated situation close to the combat scene. Therefore, the virtual-real combined situation fusion display method, especially the enemy-ally comprehensive situation combining virtual target simulation based on historical prior knowledge modeling and real-time force action, has clear training significance and application demand. SUMMARY

[0004] The present application proposes a virtual-real combined situation fusion display method to solve the problems in the background art.

[0005] The technical scheme adopted by the present application is:

[0006] A virtual-real combined situation fusion display method, comprising the following steps:

[0007] (1) generating virtual target equipment after data refinement and target clustering analysis of multi-source data fusion, obtaining virtual target type and action path, forming a virtual target action plan, and loading the corresponding type equipment motion model to simulate the virtual target action plan, and obtaining virtual target action situation data;

[0008] (2) performing data analysis and trajectory smoothing processing according to the real-time force action parameters reported by the equipment, obtaining the ally situation triplets, and forming real-time force action situation data;

[0009] (3) based on the electronic map, layering the virtual target action situation data and real-time force action situation data, and forming the fusion situation combining virtual and real targets.

[0010] Further, step (1) specifically comprises the following steps:

[0011] (101)According to the maneuvering ability of the virtual target, including the maximum climbing angle, the wading ability and the virtual target speed information, the virtual target type O is obtained; and according to the working mode, the working parameter and the virtual target exercise prediction scheme, the starting point D is obtained b ;

[0012] (102)The historical prior route scheme corresponding to the virtual target is obtained by querying the historical prior information library, and the point set S with the frequency value greater than the set threshold is extracted by performing target clustering analysis on the route passing points in the historical prior data n ;

[0013] (103)The road network data R of the exercise area is input in the electronic map o and the terrain data D e ;

[0014] (104)Firstly, the starting point D b is started, the distance between the starting point D b and each point in the point set S n is calculated, the point S i with the shortest distance is found out, and it is judged whether S i is in the coverage area of the road network data R o , if yes, step (106) is executed, otherwise, step (105) is executed

[0015] (105)According to the virtual target type O, the terrain data D e and the hydro-meteorological data in the area, it is judged whether S i is reachable, if the climbing and wading ability is less than the maximum value of the regional terrain data D e , S n is discarded from the point set S i , and step (104) is returned; otherwise, step (106) is executed

[0016] (106)The starting point is set as S i , then S n is discarded from the point set S i , and step (104) is returned for calculation iteration, until the final target point D s is reached, and the virtual target action path P is obtained

[0017] (107)After the virtual target action scheme is executed, the action range of the virtual target with other virtual targets is calculated in real time according to the virtual target position and the working parameter, it is judged whether it is located in the working range of other virtual targets, and the relationship R with other virtual targets is obtained according to the working mode of the virtual target, and finally the triple E of the corresponding virtual target is obtained, E={O, P, R}

[0018] (108)Load the corresponding type of equipment motion model to the planned virtual target, and calculate the virtual target action position according to time sequence, distribute the virtual target action situation data in time, and complete the simulation of the virtual target action scheme.

[0019] Further, the step (2) specifically comprises the following steps:

[0020] (201)Analyzing the real-time positioning parameters reported by the equipment, and analyzing the equipment number, equipment position, speed and attitude;

[0021] (202)According to the historical trajectory data of the equipment, the real-time positioning of the equipment is processed, including noise data elimination, position smoothing processing, attitude and speed parameter estimation, forming the positioning data close to the true value, and constructing the three-tuple of the equipment situation, forming the real-time force action situation data.

[0022] Compared with the background art, the present application has the following advantages:

[0023] In the aspect of situation fusion display in the training process, the present application generates the enemy training threat target through virtual target planning and simulation, fuses the real-time force action situation, forms the comprehensive situation of the training field area combining virtual and real, provides the comprehensive enemy and friendly situation display for our training, and provides intuitive and effective situation support for enriching the training scenario and tactical application of our side. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the overall structure diagram of the present application. DETAILED DESCRIPTION

[0025] Referring to Figure 1 The working process of the present application includes three steps of virtual target simulation modeling, real-time force data processing and situation data fusion display.

[0026] (1) Virtual target simulation modeling: the composition elements of a virtual target are defined as a three-tuple E={O, P, R}, wherein O represents the virtual target type, P represents the virtual target action path composed of a group of path points, and R represents the relationship between the virtual target and other targets, such as communication, interference, etc. The virtual target equipment is generated through data refinement and target clustering analysis after multi-source data fusion, the virtual target type and action path are obtained, the virtual target action scheme is formed, the corresponding type of equipment motion model is loaded to the virtual target action scheme for simulation, and the virtual target action situation data is obtained; the specific method is as follows:

[0027] (101)According to the maneuvering ability of the virtual target, including the maximum climbing angle, the wading ability and the virtual target speed information, the virtual target type O is obtained; and according to the working mode, the working parameter and the virtual target exercise prediction scheme of the virtual target, the starting point D is obtained b ;

[0028] (102)The historical prior route scheme corresponding to the virtual target is obtained by querying the historical prior information library, and the point set S with the frequency value greater than the set threshold is extracted by performing target clustering analysis on the route passing points in the historical prior data n ;

[0029] (103)The route network data R of the exercise area is input in the electronic map o and the terrain data D e ;

[0030] (104)Firstly, the starting point D b is started, the distance of each point in the point set S n from the starting point D b is calculated, the point S i with the shortest distance is found out, and it is judged whether S i is in the coverage area of the route network data R o , if yes, step (106) is executed, otherwise, step (105) is executed

[0031] (105)According to the virtual target type O, the terrain data D e and the hydro-meteorological data in the area, it is judged whether S i is reachable, if the climbing and wading ability is less than the maximum value of the regional terrain data D e , S n is discarded from the point set S i , and step (104) is returned; otherwise, step (106) is executed

[0032] (106)The starting point is set as S i , then S i is discarded from the point set S n , and step (104) is returned for calculation iteration until the final target point D s is reached, the virtual target action path P is obtained, P={D b …S i , S i+1 …D s}

[0033] (107)After starting to execute the virtual target action plan, the action range of other virtual targets is calculated in real time according to the virtual target position and the working parameters, whether the virtual target is located in the working range of other virtual targets is judged, the relationship R with other virtual targets is obtained according to the virtual target working mode, and finally the triple E corresponding to the virtual target is obtained, E = {O, P, R};

[0034] (108)If there are still virtual targets to be entered, go to step (101), otherwise save the virtual target action plan;

[0035] (109)Load the corresponding equipment motion model for the planned virtual target, calculate the virtual target action position according to the time sequence, distribute the virtual target action situation data at regular time, and complete the simulation of the virtual target action plan.

[0036] (2)Real-time force data processing: according to the real-time force action parameters reported by the equipment, data analysis and trajectory smoothing processing are performed to obtain the situation triple of our side and form the real-time force action situation data; the specific method is:

[0037] (201)Receive the real-time positioning parameters reported by the equipment, perform data analysis, and mainly analyze the equipment number, equipment position, speed, attitude and other parameter items;

[0038] (202)According to the historical trajectory data of the equipment, the real-time positioning of the equipment is processed by trajectory smoothing, mainly through noise data elimination, position smoothing processing, attitude and speed parameter estimation and other processing processes, forming the positioning data close to the true value, and distributing the real-time force action situation data;

[0039] (203)If new equipment positioning parameters are received, go to step (201).

[0040] (3)Situation data fusion display: based on the electronic map, the virtual target action situation data and the real-time force action situation data are plotted in layers to form a fusion situation combining virtual and real targets. The specific method is:

[0041] (301)Initialize the electronic map, create a virtual target action situation layer and a real-time force action situation layer;

[0042] (302)Receive the virtual target action situation data and plot it to the virtual target action situation layer;

[0043] (303)Receive the real-time force action situation data and plot it to the real-time force action situation layer;

[0044] (304)Call the electronic map refresh interface at regular time to perform situation refresh rendering.

Claims

1. A method for fusion display of virtual and real situations, characterized in that, Includes the following steps: (1) After the multi-source data is fused, the virtual target equipment is generated through data refinement and target clustering analysis. The virtual target type and action path are obtained, the virtual target action plan is formed, and the motion model of the corresponding type of equipment is loaded to simulate the virtual target action plan and obtain the virtual target action situation data. (2) Based on the real-time troop movement parameters reported by the equipment, perform data analysis and trajectory smoothing to obtain our situation ternary set and form real-time troop movement situation data; (3) Based on electronic maps, virtual target action situation data and real-time troop action situation data are plotted in layers to form a fusion situation combining virtual and real targets; Step (1) specifically includes the following steps: (101) After fusing multi-source data, data refinement and target clustering analysis are performed to generate virtual target equipment. Based on the mobility of the virtual target, including the maximum climbing angle, wading capability and the speed information of the virtual target, the virtual target type O is obtained; and based on the working mode, working parameters and the expected plan of the virtual target exercise, the starting point D is obtained. b ; (102) Query the historical prior information database to obtain the historical prior route plan corresponding to the virtual target, perform target cluster analysis on the route points in the historical prior data, and extract the set S of points with a frequency value greater than a set threshold. n ; (103) Input the road network data R of the exercise area into the electronic map. o With terrain data D e ; (104) First, starting from the starting point D b Begin by calculating the starting point D. b Distance point set S n Find the point S with the shortest distance to each point in the interval. i Determine S i Is it in the road network data R? o If the coverage area is specified, proceed to step (106); otherwise, proceed to step (105). (105) Based on virtual target type O and terrain data D e Based on regional hydrological and meteorological data, S i Is it accessible? If the climbing and wading capabilities are less than the area's topographic data D... e If the maximum value is not reached, then it is unreachable from the set of points S. n Discard S i If not, proceed to step (104); otherwise, proceed to step (106). (106) Set the starting point as S i Then from the point set S n Discard S i Return to step (104) to perform calculation iterations until the final target point D is reached. s Obtain the virtual target's movement path P; (107) After the virtual target action plan is started, the effective range of other virtual targets is calculated in real time according to the virtual target location and working parameters. It is determined whether it is within the working range of other virtual targets. According to the working mode of the virtual target, the relationship R with other virtual targets is obtained. Finally, the triplet E of the corresponding virtual target is obtained, E={O, P, R}. (108) Load the corresponding equipment motion model for the planned virtual target, calculate the virtual target's movement position according to the time sequence, distribute the virtual target's movement status data at regular intervals, and complete the simulation of the virtual target's movement plan.

2. The virtual-real combined situational awareness display method according to claim 1, characterized in that, Step (2) specifically includes the following steps: (201) Perform data analysis on the real-time positioning parameters reported by the equipment to extract the equipment number, equipment position, speed and attitude; (202) Based on the historical trajectory data of the equipment, the real-time positioning of the equipment is smoothed, including noise data removal, position smoothing, attitude and velocity parameter estimation, to form positioning data close to the true value, and construct the equipment situation ternary set to form the real-time force action situation data of our side.

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