Simulation method, apparatus, electronic device, and storage medium

Abstract

The application discloses an emulation method and device, electronic equipment and a storage medium. The method comprises the following steps: obtaining a target emulation environment, the target emulation environment comprising at least one of a first emulation sub-environment and a second emulation sub-environment; loading an aircraft model in the target emulation environment; and controlling the aircraft model to fly in the target emulation environment. The technical scheme provided by the application comprises the following steps: firstly, obtaining an emulation environment, the emulation environment comprising static target models corresponding to static targets in a real world respectively, and dynamic target models corresponding to dynamic targets respectively; and then, controlling an aircraft model to fly in the emulation environment. Since the emulation environment is obtained based on the modeling of things in the real world, the emulation environment has a higher degree of reality, and the aircraft model runs in the emulation environment with a higher degree of reality, so that the simulation effect is better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of simulation, and in particular, to a simulation method and device, an electronic device, and a storage medium. BACKGROUND

[0002] Simulation technology is an effective research method. After the development of an aircraft is completed and before the aircraft is put into use, it is necessary to debug the functions and performance of the aircraft through simulation technology.

[0003] In related technology, the simulation effect of simulating an aircraft depends on the construction of a simulation environment. In related technology, simulation of an aircraft is usually based on standard scene simulation, that is, a standard scene working condition is set, such as a specific airflow condition, and then simulation is performed based on the standard scene working condition.

[0004] In related technology, because there is a large difference between the standard scene working condition and the actual working condition, the simulation effect is poor. SUMMARY

[0005] The present application provides a simulation method and device, an electronic device, and a storage medium.

[0006] In a first aspect, an embodiment of the present application provides a simulation method, which includes: obtaining a target simulation environment, the target simulation environment including at least one of the following: a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment including a static target model corresponding to at least one static target in a real world, and the second simulation sub-environment including a dynamic target model corresponding to at least one dynamic target in the real world; loading an aircraft model in the target simulation environment; and controlling the aircraft model to fly in the target simulation environment.

[0007] In a second aspect, an embodiment of the present application provides a simulation device, which includes: an environment obtaining module configured to obtain a target simulation environment, the target simulation environment including at least one of the following: a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment including a static target model corresponding to at least one static target in a real world, and the second simulation sub-environment including a dynamic target model corresponding to at least one dynamic target in the real world; a model loading module configured to load an aircraft model in the target simulation environment; and a simulation module configured to control the aircraft model to fly in the target simulation environment.

[0008] In a third aspect, an embodiment of the present application provides a vehicle, which includes: one or more processors; a memory; and one or more application programs stored in the memory and configured to be executed by the one or more processors, the one or more application programs being configured to execute the simulation method of the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores computer program instructions. The computer program instructions can be invoked by a processor to execute the simulation method in the first aspect.

[0010] In a fifth aspect, an embodiment of the present application provides a computer program product, when the computer program product is executed, the computer program product is used to implement the simulation method in the first aspect.

[0011] Compared with the prior art, the simulation method provided by the embodiment of the present application, by first acquiring a simulation environment, the simulation environment includes static target models respectively corresponding to static targets in the real world, and dynamic target models respectively corresponding to dynamic targets, and then controlling the aircraft model to fly in the simulation environment, since the simulation environment is obtained based on the modeling of things in the real world, the simulation environment has higher authenticity, and the aircraft model runs in the simulation environment with higher authenticity, which can make the simulation effect better. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Figure 1 is a schematic diagram of a simulation system provided by an embodiment of the present application.

[0014] Figure 2 is a structural block diagram of the simulation system provided by an embodiment of the present application.

[0015] Figure 3 is a flowchart of a simulation method provided by an embodiment of the present application.

[0016] Figure 4 is a flowchart of another simulation method provided by another embodiment of the present application.

[0017] Figure 5 is a structural block diagram of a simulation device provided by an embodiment of the present application.

[0018] Figure 6 is a structural block diagram of an electronic device provided by an embodiment of the present application.

[0019] Figure 7 is a structural block diagram of a computer storage medium provided by an embodiment of the present application. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explanation, and are not to be understood as a limitation of the present application.

[0021] In order to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below by referring to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0022] Reference is made to Figure 1 which shows a schematic diagram of an implementation environment provided by an embodiment of the present application. The implementation environment includes a simulation system 100. The simulation system 100 is used to implement simulation of a flight process of an aircraft model. Simulation is a technology that uses a computer to establish, verify, and run a model of an actual system to obtain the behavior characteristics of the model, so as to achieve the purpose of analyzing and researching the actual system. The simulation system 100 includes a simulation environment and an aircraft model 110.

[0023] In the embodiments of the present application, the simulation environment is obtained by modeling the real flight environment of the aircraft based on digital twinning technology. The digital twinning technology is a simulation process that fully utilizes physical models, sensor updates, operation history, and other data, integrates multi-disciplinary, multi-physical quantity, multi-scale, and multi-probability, and completes mapping in a virtual space, so as to reflect the whole life cycle process of the corresponding entity equipment. In some embodiments, the simulation environment includes a first simulation sub-environment and a second simulation sub-environment, and the first simulation sub-environment includes at least one static target model corresponding to a static target. The static target includes but is not limited to mountains, trees, buildings, signal towers, street lamps, power poles, and the like. Dynamic targets include but are not limited to people and animals around the aircraft at the starting point of flight, other aircraft, birds, and people and animals around the aircraft at the end point of flight. By providing a simulation environment with higher authenticity, the simulation effect for the aircraft is better.

[0024] In some embodiments, the simulation device 100 comprises a simulation application, which has a modeling function to generate a simulation environment based on the scene images of the real flight environment, the spatial position information and the morphological information of the static target, and the motion parameter information and the morphological information of the dynamic target, and implement a simulation process based on the generated simulation environment. In other embodiments, the simulation device 100 further comprises a modeling application, through which a simulation environment is built, and then the simulation application loads the simulation environment to implement a simulation process. In other embodiments, the simulation device 100 obtains a simulation environment sent by another device.

[0025] With reference to Figure 2 which shows an architecture diagram of a simulation system. The simulation system 200 comprises a real image database 210, a flight scene library 220, a static twin scene building module 230, and a dynamic twin scene building module 240. The static twin scene building module 230 builds a static twin scene (i.e., a first simulation sub-environment) based on the data in the real image database 210, and the dynamic twin scene building module 240 builds a dynamic twin scene (i.e., a second simulation sub-environment) based on the data in the flight scene library 220.

[0026] The aircraft model 110 is a virtual model built based on the size, function, and behavior logic of an aircraft entity. The aircraft model can be obtained based on a modeling function in a simulation application, can be built through a professional modeling application, or can be imported from the outside, and the embodiments of the present application do not limit this.

[0027] In some embodiments, please refer to Figure 2 The simulation system further comprises a sensor model 250, which is also a mathematical model built based on digital twin technology, and can complete the conversion of real-world objects to sensor signals. The above-mentioned sensor model comprises, but is not limited to, a camera model, a laser radar model, a millimeter wave radar model, an ultrasonic radar model, an inertia measurement unit (IMU) model, a speed sensor model, an acceleration sensor model, and the like.

[0028] In some embodiments, please refer to Figure 2 The simulation system further comprises a perception algorithm model 260, which is used to determine the flight data (such as the current spatial position, the current speed, the current acceleration, the current attitude, the current flight direction, and the like) of the aircraft model and the obstacle data (such as the spatial position information, the morphological information, the distance from the aircraft model, the angle relative to the aircraft model, the speed, and the like) of the obstacle based on the data collected by the sensor model 250.

[0029] In some embodiments, please refer to Figure 2 The simulation system further comprises a planning control model 270, which is configured to determine flight parameters (such as flight path, flight speed, flight acceleration, flight attitude, flight direction, etc.) of the aircraft model based on the flight data and the obstacle data of the aircraft model output by the perception algorithm model 260.

[0030] In some embodiments, please refer to Figure 2 The simulation system further comprises an actuator model 280, which is configured to receive and execute the control instructions. In some embodiments, please refer to Figure 2 The simulation system further comprises an aerodynamic model 290, which is configured to indicate the influence of airflow changes on the rotors and flight attitude of the aircraft model, so that the simulation process of the aircraft model encountering different airflows can be realized.

[0031] Please refer to Figure 3 which shows a flowchart of a simulation method according to an embodiment of the present application. The method comprises the following steps S301-S303.

[0032] Step S301, obtaining a target simulation environment.

[0033] The target simulation environment comprises at least one of the following: a first simulation sub-environment and a second simulation sub-environment. The first simulation sub-environment comprises at least one static target model corresponding to at least one static target in the real world. The static target comprises but is not limited to: mountains, trees, buildings, signal towers, street lamps, power poles, etc. The second simulation sub-environment comprises at least one dynamic target model corresponding to at least one dynamic target in the real world. The dynamic target comprises but is not limited to: people and animals around the aircraft at the starting point of flight, other aircraft, birds, people and animals around the aircraft at the end point of flight, etc.

[0034] In some embodiments, the target simulation environment is pre-generated and stored in the simulation device, and at this time the simulation device can directly read the target simulation environment from the local.

[0035] In a possible implementation manner, the simulation device displays an environment loading control, after receiving a trigger signal for the environment loading control, the simulation device displays a simulation environment list, the simulation environment list comprises unique identifiers of pre-generated simulation environments, and after receiving a selection signal for the target simulation environment, the simulation device reads the target simulation environment from the local.

[0036] In another possible implementation, the simulation device displays an environment loading control, and after receiving a triggering signal for the environment loading control, the simulation device displays a static twin scene list and a dynamic twin scene list, the static twin scene list including unique identifiers of pre-generated static twin scenes, and the dynamic twin scene list including unique identifiers of pre-generated dynamic twin scenes. The technician can select a first simulation sub-environment from the static twin scene list and a second simulation sub-environment from the dynamic twin scene list, and the two are combined to obtain the target simulation environment.

[0037] The former implementation can make the selection of the target simulation environment more efficient, and the latter implementation can combine more target simulation environments. The technician can select a way to obtain the target simulation environment according to simulation requirements, and the embodiments of the application are not limited in this regard.

[0038] In some other embodiments, the simulation environment is generated by the simulation device in real time, and the specific generation process will be described in the following embodiments.

[0039] Step S302: loading an aircraft model in the target simulation environment.

[0040] The aircraft model is a virtual model built based on the size, function, and behavior logic of the aircraft entity. In some embodiments, the developer can model the aircraft entity based on the size, function, and behavior logic of the aircraft entity to obtain a modeling file, and then the simulation device can load the modeling file to display a visual aircraft model on the simulation interface. In some other embodiments, the simulation interface includes a model building control, and after receiving a triggering signal for the model building control, a model building interface is displayed, the model building interface including one or more geometric elements (such as a circle, a square, a rectangle, etc.). The technician can build an aircraft model based on the geometric elements.

[0041] In some embodiments, the simulation device can display an editable list corresponding to each model parameter of the aircraft model while displaying the aircraft model. In this way, the technician can directly adjust each model parameter of the aircraft model through the editable list, thereby achieving custom adjustment of the aircraft model.

[0042] Step S303: controlling the aircraft model to fly in the target simulation environment.

[0043] In some embodiments, the simulation device can display a dynamic picture of the flight of the aircraft model in the simulation environment for the technician to view. In other embodiments, the simulation device can collect state parameters of the flight of the aircraft model in the simulation environment, and then generate a simulation log based on the state parameters for the technician to view. The state parameters include current spatial position information, speed, acceleration, current flight attitude, and the like of the aircraft model.

[0044] To sum up, the technical solution provided by the embodiments of the present application first acquires a simulation environment, which includes static target models corresponding to static targets in the real world respectively, and dynamic target models corresponding to dynamic targets respectively, and then controls the flight of the aircraft model in the simulation environment. Since the simulation environment is obtained based on the modeling of things in the real world, the simulation environment has a higher degree of reality, and the aircraft model runs in the simulation environment with a higher degree of reality, which can make the simulation effect better.

[0045] Please refer to Figure 4 which shows a flowchart of a simulation method according to an embodiment of the present application. The method includes the following steps S401-S406.

[0046] Step S401, acquiring a target simulation environment.

[0047] The target simulation environment includes at least one of the following: a first simulation sub-environment and a second simulation sub-environment. The first simulation sub-environment includes at least one static target model corresponding to a static target respectively. The second simulation sub-environment includes at least one dynamic target model corresponding to a dynamic target respectively.

[0048] Step S402, loading an aircraft model in the target simulation environment.

[0049] Step S403, acquiring perception data of the aircraft model in the flight process through a sensor model.

[0050] The sensor model includes, but is not limited to, a camera model, a laser radar model, a millimeter wave radar model, an ultrasonic radar model, an inertial sensor model, a speed sensor model, an acceleration sensor model, and the like.

[0051] The perception data collected by the camera model includes a current environment image of the aircraft model. The perception data collected by the laser radar model includes a first point cloud data set including three-dimensional coordinate information, color information, reflection intensity information, echo number information, etc. of three-dimensional points detected by the laser radar model in the simulation environment. The perception data collected by the millimeter wave radar model includes a second point cloud data set including three-dimensional coordinate information, reflectivity, radial relative speed of three-dimensional points detected by the millimeter wave radar model in the simulation environment. The perception data collected by the ultrasonic radar model includes the distance between the obstacle and the aircraft model, the orientation and distance of the obstacle relative to the aircraft model, the perception data collected by the inertial sensor model includes the pitch and yaw angular velocities of the aircraft model in the longitudinal and lateral directions, and the longitudinal, lateral and vertical accelerations, etc. The perception data collected by the speed sensor model includes the speed of the aircraft model. The perception data collected by the acceleration sensor model includes the acceleration of the aircraft model.

[0052] In step S404, first pose information of the aircraft model and second pose information of the obstacle are determined based on the perception data.

[0053] The first pose information of the aircraft model includes, but is not limited to, spatial position information of the aircraft model in the target simulation environment, attitude information of the aircraft model in the target simulation model, flight direction, speed, acceleration, etc. of the aircraft model. The spatial position information of the aircraft model in the target simulation environment can be directly obtained by the positioning model, or the distance between the marker and the aircraft model, the angle of the marker relative to the aircraft model can be detected by the laser radar model first, and then the position information of the aircraft model is calculated based on the spatial position information of the marker and the above detection data. The marker is usually a static target such as a designated building which is set on the ground and has known spatial position information. The attitude information of the aircraft model in the target simulation environment can be directly obtained from the measurement data of the inertial sensor model. The speed of the aircraft model can be directly obtained from the measurement data of the speed sensor model. The acceleration of the aircraft model can be directly obtained from the measurement data of the acceleration sensor model.

[0054] The second pose information of the obstacle includes, but is not limited to, spatial position information of the obstacle, distance between the obstacle and the aircraft model, angle of the obstacle relative to the aircraft model, speed of the obstacle, etc. The angle of the obstacle relative to the aircraft model and the speed of the obstacle can be directly obtained from the detection data of the laser radar sensor model. The spatial position information of the obstacle can be calculated by the distance between the obstacle and the aircraft model, the angle of the obstacle relative to the aircraft model, and the spatial position information of the aircraft model.

[0055] Step S405, determining the flight parameter of the aircraft model based on the first pose information and the second pose information.

[0056] The flight parameter of the aircraft model includes the motion trajectory of the aircraft model, the velocity, acceleration, steering wheel angle and other parameters of the sampling points in the motion trajectory. In some embodiments, the electronic device determines the flight parameter of the aircraft model by planning a control model. The path planning algorithm used by the planning control model includes but is not limited to: Rapidly-exploring Random Tree (RRT) algorithm, artificial potential field algorithm, A* algorithm, D* algorithm, etc.

[0057] In some embodiments, the simulation device can also obtain control instructions for the aircraft model. The above-mentioned control instructions can be triggered by the technician, including but not limited to: landing instructions, turning instructions, terrain following instructions, speed control instructions, etc. In some embodiments, the simulation device displays an instruction obtaining page, and then receives the control instructions input by the technician in the instruction obtaining page. In the case of receiving the control instructions, step S405 can be implemented as: determining the first flight parameter based on the first pose information, the second pose information and the control instructions. The method for determining the first flight parameter can refer to the method for determining the flight parameter, which is not described here.

[0058] In some embodiments, the simulation device can also obtain a simulation air flow model. The simulation air flow model is used to simulate the air flow situation in the real world, which includes strong convection model, updraft model, downdraft model, etc. In the case of obtaining the simulation air flow model, step S405 can be implemented as: determining the second flight parameter based on the first pose information, the second pose information and the simulation air flow model. The method for determining the second flight parameter can refer to the method for determining the flight parameter, which is not described here.

[0059] Step S406, controlling the aircraft model to fly in the target simulation environment according to the flight parameter.

[0060] In the case of determining the first flight parameter, step S406 is implemented as: controlling the aircraft model to execute the control instructions in the process of flying in the target simulation environment according to the first flight parameter.

[0061] In the case of determining the second flight parameter, step S406 is implemented as: controlling the aircraft model to fly in the target simulation environment according to the second flight parameter.

[0062] In summary, the technical scheme provided in the embodiments of the present application first acquires a simulation environment, the simulation environment including static target models respectively corresponding to static targets in the real world and dynamic target models respectively corresponding to dynamic targets, and then controls a flight vehicle model to fly in the simulation environment. Since the simulation environment is obtained based on modeling of things in the real world, the simulation environment has a higher degree of reality, and the flight vehicle model runs in the simulation environment with a higher degree of reality, which can make the simulation effect better.

[0063] The first simulation sub-environment can be generated in real time by the simulation device or pre-generated by another device or the simulation device. In the embodiments of the present application, only the case that the first simulation sub-environment is generated in real time by the simulation device is described. The building process of the first simulation sub-environment is described below. The process specifically includes the following steps S501-S504.

[0064] Step S501: Acquire a scene image.

[0065] The scene image is obtained by image acquisition of the real world. In some embodiments, a professional surveying and mapping personnel controls a related shooting device to acquire the scene image. In other embodiments, the flight vehicle entity acquires the scene image by an image acquisition device arranged on the flight vehicle entity when the flight vehicle entity performs a flight task. The number of scene images can be determined according to the distance between the flight starting point and the flight ending point and the accuracy requirement of the simulation environment. The accuracy requirement of the simulation environment can be understood as the fitting degree of the simulation environment to the real world. In the case that the accuracy requirement of the simulation environment is certain, the greater the distance between the flight starting point and the flight ending point, the greater the number of scene images. In the case that the distance between the flight starting point and the flight ending point is certain, the higher the accuracy requirement of the simulation environment, the greater the number of scene images.

[0066] In some embodiments, the simulation device is provided with a static twin scene building control. After receiving a first trigger signal for the static twin scene building control, the simulation device displays a scene image database. Then, the simulation device can read the scene images from the scene database according to a selection signal of a technical personnel for the scene images.

[0067] Step S502: Determine at least one static target based on the scene image.

[0068] The simulation device determines at least one static target by image recognition of the scene image through an image recognition algorithm. The image recognition algorithm includes but is not limited to a machine learning-based image recognition algorithm, a template matching-based image recognition algorithm, a support vector machine-based deep learning algorithm, and the like.

[0069] Step S503: Acquire spatial position information and morphological information of the at least one static target.

[0070] The spatial position information and the shape information of the at least one static target can be detected by the aerial vehicle when performing the target flight task, or can be obtained from a background server of a map application, and the embodiments of the present application do not limit this.

[0071] In step S504, a first simulation sub-environment is generated based on the spatial position information and the shape information of the at least one static target.

[0072] The first simulation sub-environment includes a static target model corresponding to each static target. In some embodiments, the simulation device can generate a static target model corresponding to each static target by three-dimensional modeling technology, automatic generation of models by oblique photography, machine learning models, etc. The static target model corresponding to each static target described above constitutes the first simulation sub-environment. In other possible implementations, the simulation device can also use an existing model library to build a static scene similar to the real scene, thereby realizing the diversification of the scene.

[0073] In summary, the technical scheme provided by the embodiments of the present application obtains a scene image by image acquisition on a real world, and then models based on the scene image to obtain a first simulation sub-environment containing a static target model, so that the first simulation sub-environment is more realistic.

[0074] The second simulation sub-environment can be generated in real time by the simulation device, or can be generated in advance by other devices or the simulation device. In the embodiments of the present application, only the case where the second simulation sub-environment is generated in real time by the simulation device is described. The building process of the second simulation sub-environment is described below. The process specifically includes the following steps S505-S508.

[0075] In step S505, detection data obtained by the aerial vehicle in the process of performing the target flight task is obtained.

[0076] The target flight task can be an actual flight task, a simulated flight task, or a flight task obtained by deep learning based on a real flight task and then expanding the network. The detection data includes the motion trajectory of the dynamic target, the speed, acceleration, motion attitude, etc. of the dynamic target at a plurality of sampling points on the motion trajectory.

[0077] In step S506, at least one dynamic target is determined based on the detection data.

[0078] The simulation device can directly determine the dynamic target detected by the aerial vehicle in the process of performing the target flight task from the detection data.

[0079] In step S507, motion parameter information and shape information of the at least one dynamic target are determined based on the detection data.

[0080] Similarly, the simulation device can directly determine the motion parameter information and the shape information of the dynamic target from the above-mentioned detection data.

[0081] In step S508, a second simulation sub-environment is generated based on the motion parameter information and the shape information of the at least one dynamic target.

[0082] The second simulation sub-environment includes a dynamic target model corresponding to each of the at least one dynamic target. In some embodiments, the simulation device can generate the dynamic target model corresponding to each of the at least one dynamic target by virtual engine technology, and the dynamic target model corresponding to each of the at least one dynamic target constitutes the second simulation sub-environment.

[0083] In summary, the technical scheme provided by the embodiments of the present application can obtain a second simulation sub-environment including a dynamic target model by modeling based on the detection data of the aircraft entity in the process of performing the target task, so that the second simulation sub-environment is more realistic.

[0084] Please refer to Figure 5 which shows a structure block diagram of a simulation device provided by an embodiment of the present application, and the device includes an environment acquisition module 510, a model loading module 520, and a simulation module 530.

[0085] The environment acquisition module 510 is configured to acquire a simulation environment, wherein the simulation environment includes at least one of the following: a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment includes a static target model corresponding to each of at least one static target in a real flight environment of an aircraft, and the second simulation sub-environment includes a dynamic target model corresponding to each of at least one dynamic target in the real flight environment.

[0086] The model loading module 520 is configured to load an aircraft model in the simulation environment.

[0087] The simulation module 530 is configured to control the aircraft model to fly in the simulation environment.

[0088] In some embodiments, the simulation module 530 includes a sensor model, a perception unit, a planning control unit, and an execution unit (not shown in the figure).

[0089] The sensor model is configured to acquire perception data of the aircraft model in the flying process. The perception unit is configured to determine first pose information of the aircraft model and second pose information of an obstacle based on the perception data. The planning control unit is configured to determine a flight parameter of the aircraft model based on the first pose information and the second pose information. The execution unit is configured to control the aircraft model to fly in the simulation environment according to the flight parameter.

[0090] In some embodiments, the simulation module 530 is further configured to obtain a control instruction for the aircraft model. The planning control unit is specifically configured to determine the first flight parameter based on the first pose information, the second pose information, and the control instruction. The execution unit is specifically configured to control the aircraft model to execute the control instruction in the process of flying in the simulation environment according to the first flight parameter.

[0091] In some embodiments, the simulation module 530 is further configured to obtain a simulation air flow model. The planning control unit is specifically configured to determine the second flight parameter based on the first pose information, the second pose information, and the simulation air flow model. The execution unit is specifically configured to control the aircraft model to fly in the simulation environment according to the second flight parameter.

[0092] In some embodiments, the apparatus further comprises a first environment generation module (not shown in the figure). The first environment generation module is configured to obtain a scene image, the scene image being obtained by image acquisition on a real flight environment of an aircraft; determine at least one static target based on the scene image; obtain spatial position information and morphological information of the at least one static target; generate a first simulation sub-environment based on the spatial position information and the morphological information of the at least one static target, the first simulation sub-environment comprising static target models corresponding to the at least one static target respectively.

[0093] In some embodiments, the apparatus further comprises a second environment generation module (not shown in the figure). The second environment generation module is configured to obtain detection data obtained by the aircraft in the process of executing a target flight task; determine at least one dynamic target based on the detection data; determine motion parameter information and morphological information of the at least one dynamic target based on the detection data; generate a second simulation sub-environment based on the motion parameter information and the morphological information of the at least one dynamic target, the second simulation sub-environment comprising dynamic target models corresponding to the at least one dynamic target respectively.

[0094] In summary, the technical scheme provided by the embodiments of the present application obtains a simulation environment first, the simulation environment comprising static target models corresponding to static targets in the real world respectively and dynamic target models corresponding to dynamic targets respectively, and then controls an aircraft model to fly in the simulation environment. Since the simulation environment is obtained based on the things in the real world, the simulation environment has a higher degree of reality, and the aircraft model runs in the simulation environment with a higher degree of reality, which can make the simulation effect better.

[0095] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described apparatus and modules can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0096] The coupling between the modules may be electrical, mechanical or in other forms in the embodiments of the present application.

[0097] In addition, each functional module in the embodiments of the present application may be integrated in one processing module, or each module may exist physically separately, or two or more modules may be integrated in one module. The integrated module may be realized in the form of hardware or in the form of a software functional module.

[0098] Please refer to Figure 6 It is shown that the embodiments of the present application further provide an electronic device 600, which includes one or more processors 610, a memory 620 and one or more application programs. Wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to execute the method described in the above embodiments.

[0099] The processor 610 can include one or more processing cores. The processor 610 connects various parts within the battery management system through various interfaces and lines, and performs various functions of the battery management system and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 620, and calling data stored in the memory 620. Optionally, the processor 610 can be realized in at least one of the hardware forms of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 610 can integrate a combination of one or several of a central processing unit (CPU), a graphic processing unit (GPU) and a modem. Among them, the GPU mainly processes the operating system, the user interface and the application program, etc.; the GPU is used to be responsible for the rendering and drawing of the display content; the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 610, but be realized by a separate communication chip.

[0100] The memory 620 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 620 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 620 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (for example, a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The data storage area can also store data created by the electronic device in use (for example, a phonebook, audio / video data, chat log data), and the like.

[0101] Referring to Figure 7 It is shown that the embodiments of the present application further provide a computer readable storage medium 700, which stores computer program instructions 710, and the computer program instructions 710 can be invoked by a processor to execute the methods described in the above embodiments.

[0102] The computer readable storage medium 700 can be, for example, a flash memory, an electrically erasable programmable read-only memory (EEPROM), an electrically programmable read-only memory (EPROM), a hard disk, or a read-only memory (ROM). Alternatively, the computer readable storage medium includes a non-transitory computer readable storage medium. The computer readable storage medium 700 has a storage space for the computer program instructions 710 to execute any of the above methods. These computer program instructions 710 can be read from or written into one or more computer program products.

[0103] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the above has disclosed the preferred embodiment of the present application, it is not intended to limit the present application. Any person skilled in the art can make some minor changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present application. Any modification, change, equivalent change, and modification of the above embodiments, which does not depart from the technical solutions of the present application, is still within the scope of the technical solutions of the present application.

Claims

1. A simulation method, characterized by, The method comprises: obtaining a target simulation environment, the target simulation environment comprising at least one of a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment comprising static target models corresponding to at least one static target in a real world respectively, and the second simulation sub-environment comprising dynamic target models corresponding to at least one dynamic target in the real world respectively; loading an aircraft model in the target simulation environment; obtaining perception data of the aircraft model in a flight process through a sensor model; determining first pose information of the aircraft model and second pose information of an obstacle based on the perception data; determining flight parameters of the aircraft model based on the first pose information and the second pose information; controlling the aircraft model to fly in the target simulation environment according to the flight parameters; wherein the flight parameters comprise second flight parameters, and the determining of the flight parameters of the aircraft model based on the first pose information and the second pose information comprises determining the second flight parameters based on the first pose information, the second pose information, and a simulation air flow model obtained, and the controlling of the aircraft model to fly in the target simulation environment according to the flight parameters comprises controlling the aircraft model to fly in the target simulation environment according to the second flight parameters.

2. The method of claim 1, wherein, The flight parameters comprise first flight parameters, and the method further comprises: obtaining a control instruction for the aircraft model; the determining of the flight parameters of the aircraft model based on the first pose information and the second pose information comprises determining the first flight parameters based on the first pose information, the second pose information, and the control instruction; the controlling of the aircraft model to fly in the target simulation environment according to the flight parameters comprises: controlling the aircraft model to execute the control instruction in the process of flying in the target simulation environment according to the first flight parameters.

3. The method according to claim 1 or 2, characterized in that, The generation process of the first simulation sub-environment comprises the following steps: obtaining a scene image, the scene image being obtained by image acquisition on a real flight environment of an aircraft; determining at least one static target based on the scene image; obtaining spatial position information and morphological information of the at least one static target; generating the first simulation sub-environment based on the spatial position information and the morphological information of the at least one static target, the first simulation sub-environment comprising static target models corresponding to the at least one static target respectively.

4. The method according to claim 1 or 2, characterized in that, The generation process of the second simulation sub-environment comprises the following steps: obtaining detection data obtained by an aircraft in the process of executing a target flight task; determining at least one dynamic target based on the detection data; determining motion parameter information and morphological information of the at least one dynamic target based on the detection data; generating the second simulation sub-environment based on the motion parameter information and the morphological information of the at least one dynamic target, the second simulation sub-environment comprising dynamic target models corresponding to the at least one dynamic target respectively.

5. An emulation apparatus, characterized by, The device comprises: An environment obtaining module is configured to obtain a target simulation environment, the target simulation environment comprising at least one of a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment comprising at least one static target model corresponding to at least one static target in a real world, and the second simulation sub-environment comprising at least one dynamic target model corresponding to at least one dynamic target in the real world; A model loading module is configured to load an aircraft model in the target simulation environment; An simulation module is configured to obtain perception data of the aircraft model in a flight process through a sensor model, determine first pose information of the aircraft model and second pose information of an obstacle based on the perception data, determine a flight parameter of the aircraft model based on the first pose information and the second pose information, and control the aircraft model to fly in the target simulation environment according to the flight parameter. The flight parameter comprises a second flight parameter, and the simulation module is specifically configured to determine the second flight parameter based on the first pose information, the second pose information, and a simulation air flow model obtained, and control the aircraft model to fly in the target simulation environment according to the second flight parameter.

6. An electronic device, comprising: The simulation method comprises the following steps: obtaining a target simulation environment, the target simulation environment comprising at least one of a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment comprising at least one static target model corresponding to at least one static target in a real world, and the second simulation sub-environment comprising at least one dynamic target model corresponding to at least one dynamic target in the real world; loading an aircraft model in the target simulation environment; obtaining perception data of the aircraft model in a flight process through a sensor model, determining first pose information of the aircraft model and second pose information of an obstacle based on the perception data, determining a flight parameter of the aircraft model based on the first pose information and the second pose information, and controlling the aircraft model to fly in the target simulation environment according to the flight parameter.

7. A computer-readable storage medium, characterized in that, The flight parameter comprises a second flight parameter, and the simulation module is specifically configured to determine the second flight parameter based on the first pose information, the second pose information, and a simulation air flow model obtained, and control the aircraft model to fly in the target simulation environment according to the second flight parameter. The simulation method comprises the following steps: obtaining a target simulation environment, the target simulation environment comprising at least one of a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment comprising at least one static target model corresponding to at least one static target in a real world, and the second simulation sub-environment comprising at least one dynamic target model corresponding to at least one dynamic target in the real world; loading an aircraft model in the target simulation environment; obtaining perception data of the aircraft model in a flight process through a sensor model, determining first pose information of the aircraft model and second pose information of an obstacle based on the perception data, determining a flight parameter of the aircraft model based on the first pose information and the second pose information, and controlling the aircraft model to fly in the target simulation environment according to the flight parameter. The flight parameter comprises a second flight parameter, and the simulation module is specifically configured to determine the second flight parameter based on the first pose information, the second pose information, and a simulation air flow model obtained, and control the aircraft model to fly in the target simulation environment according to the second flight parameter. The simulation method comprises the following steps: obtaining a target simulation environment, the target simulation environment comprising at least one of a first simulation sub-environment and a second simulation sub-environment, the first simulation sub-environment comprising at least one static target model corresponding to at least one static target in a real world, and the second simulation sub-environment comprising at least one dynamic target model corresponding to at least one dynamic target in the real world; loading an aircraft model in the target simulation environment; obtaining perception data of the aircraft model in a flight process through a sensor model, determining first pose information of the aircraft model and second pose information of an obstacle based on the

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