Intelligent target-based virtual-real integrated training system and method

Abstract

The application relates to a virtual-real integrated training system and method based on intelligent targets. The system comprises a field equipment unit, an adapter unit, a virtual soldier unit, data communication middleware and a damage decision unit; the field equipment unit comprises intelligent targets and real soldiers; the adapter unit comprises target adapters and real soldier adapters; the virtual soldier unit comprises target virtual soldier agent models and pure virtual soldier models; the field equipment unit is in communication connection with the adapter unit, the adapter unit, the virtual soldier unit and the damage decision unit are in communication connection with the data communication middleware; the real soldier equipment accesses the system through the real soldier adapter, the virtual soldier realizes perception and attack on the real soldier; the target virtual soldier agent model takes the intelligent target as its agent in reality through the target adapter, and realizes perception and attack of the real soldier on the virtual soldier. The system can make the virtual-real combination of confrontation training more close, the training more realistic and the effect of the performance training more obvious.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of analog confrontation training, in particular to a virtual-real integrated training system and method based on intelligent targets. BACKGROUND

[0002] In virtual-real integrated joint simulation confrontation military training, the virtual refers to virtual forces, that is, computer-generated forces, which are simulation entities running on computers and controllable, simulating actual equipment or forces, and the behavior decision thereof is controlled by a computer program. The real refers to real soldiers and weapons, that is, single soldiers and weapon simulation equipment participating in training, and the behavior decision thereof is controlled by people. At present, in military training, targets are generally used as real soldiers and weapons, and are directly controlled by people or controlled through remote control devices, and the targets can only be perceived and attacked by real soldiers. The first problem to be solved in virtual-real integrated training is the mutual perception and attack of virtual and real forces.

[0003] At present, the perception of virtual forces to real forces can be realized by installing various sensors on real force equipment to obtain real force state data in real time, and then sending the data to the virtual force system through the background data server of the real force system, so that the virtual force can perceive the real force. After the virtual force perceives the real force, the attack data of the virtual force to the real force is calculated and judged by the background server, and then sent to the real force equipment. This method needs to modify the real force background server and the virtual force system to ensure the consistency of the data interface of the respective systems, and the coupling is high, and the cost of later upgrading is large.

[0004] The perception and attack of real forces to virtual forces are currently realized by the advanced method that real forces wear AR glasses, and the virtual force information is displayed in the AR glasses through the background data server of the AR system, and various sensors are configured in the real force weapon equipment, and the attack data of the weapon equipment is calculated and processed by the background server of the real force and then sent to the virtual force. However, the current AR imaging technology is not mature and is in the stage of continuous development and updating, and has high requirements on the surrounding environment and weather, and low positioning accuracy and poor stability. The application of AR technology in virtual-real integrated military training has the shortcomings of low realism of confrontation training and unclear training effect.

[0005] At present, there are few virtual-real integrated training systems that can realize the mutual perception and attack of virtual and real forces and have strong practicability and stability. SUMMARY

[0006] Therefore, it is necessary to provide a virtual-real integrated training system and method based on intelligent targets in view of the above technical problems.

[0007] A virtual-real integrated training method based on intelligent targets, the system comprises:

[0008] The field equipment unit, the adapter unit, the virtual troop unit, the data communication middleware and the damage decision unit; the field equipment unit includes intelligent targets and real troops; the adapter unit includes target adapters and real troop adapters; the virtual troop unit includes target virtual troop agent models and pure virtual troop models;

[0009] The field equipment unit is in communication connection with the adapter unit, and the adapter unit, the virtual troop unit and the damage decision unit are in communication connection with the data communication middleware;

[0010] The damage decision unit is used for subscribing to strike interactions from the data communication middleware, performing damage evaluation and decision calculation on the strike interactions, and obtaining damage decision results;

[0011] The data communication middleware is used for definition and distribution of interactive data between the adapter unit, the virtual troop unit and the damage decision unit; the interactive data includes direct-fire strike interactions published by intelligent targets, indirect-fire strike interactions published by real troops, strike interactions published by target virtual troop agent models, strike interactions published by virtual troop models and damage decision results published by the damage decision unit;

[0012] The intelligent targets update their damage states according to target damage decision results; the target damage decision results include damage decision results corresponding to direct-fire and indirect-fire strike interactions output by real troops and strike interactions output by pure virtual troop models;

[0013] The real troops and the pure virtual troop models update their damage states according to damage decision results corresponding to strike interactions output by the target virtual troop agent models.

[0014] In one of the embodiments, the interactive data further includes target state data and target positions published by intelligent targets, real troop positions and real troop state data published by real troops, maneuver control data published by target virtual troop agent models and virtual troop positions and virtual troop state data published by pure virtual troop models.

[0015] In one of the embodiments, the target virtual troop agent models and the pure virtual troop models construct kd-Trees of positions of all troops in a current scene in real time according to the target positions, the real troop positions and the virtual troop positions and their own positions, search for adjacent troops in a specified range, autonomously select non-friendly troops for strike according to preset priorities and current terrain visibility conditions if the non-friendly troops are detected within a preset effective attack range, and publish strike interactions to the data communication middleware.

[0016] In one of the embodiments, further comprising: updating the position and damage state of the target agent model according to the target position and target state data published by the intelligent target.

[0017] In one of the embodiments, the target adapter comprises a target UDP data communication sub-thread, a middleware TCP communication sub-thread, a protocol conversion module, a target state hash table and a target-model mapping table; the target UDP data communication sub-thread is configured to communicate data according to the communication protocol of the intelligent target, including receiving the target position data, target state data and direct-fire attack data uploaded by the intelligent target in real time, and sending the damage decision result and maneuver control data converted by the protocol conversion module to the intelligent target in real time; the middleware TCP communication sub-thread is configured to communicate data according to the communication architecture and protocol of the data communication middleware, including publishing the target position data, target state data and direct-fire attack interaction converted by the protocol conversion module to the middleware in real time, and subscribing the target damage decision result and maneuver control data from the middleware in real time; the protocol conversion module is configured to convert the real-time format of the data transmitted between the target UDP data communication sub-thread and the middleware TCP communication sub-thread; the target state hash table is configured to save and update the target position and target state data of each intelligent target; the target state data comprises platform maneuver state data and target damage state data; and the target-model mapping table is configured to manage the matching relationship between the intelligent target and the target agent model.

[0018] In one of the embodiments, the real soldier adapter comprises a real soldier UDP data communication sub-thread, a middleware TCP communication sub-thread, a protocol conversion module and a real soldier state hash table; the real soldier UDP data communication sub-thread is configured to communicate data according to the communication protocol of the real soldier equipment, including receiving the real soldier equipment position data, real soldier equipment state data and indirect-fire attack data uploaded by the real soldier equipment in real time, and sending the damage decision result converted by the protocol conversion module to the real soldier equipment in real time; the middleware TCP communication sub-thread is configured to communicate data according to the communication architecture and protocol of the data communication middleware, including publishing the real soldier equipment position data, real soldier equipment state data and indirect-fire attack interaction converted by the protocol conversion module to the data communication middleware in real time, and subscribing the real soldier equipment damage decision result from the data communication middleware in real time; the protocol conversion module is configured to convert the real-time format of the data transmitted between the real soldier UDP data communication sub-thread and the middleware TCP communication sub-thread; and the real soldier state hash table is configured to save and update the real soldier equipment position and real soldier equipment state data of each real soldier equipment; the real soldier equipment state data comprises real soldier equipment damage state data.

[0019] In one of the embodiments, the intelligent target comprises a laser receiving module, a 4G / 5G wireless communication module, a satellite positioning module, a mobile control module and a damage state display module; the laser receiving module is used for receiving a laser coded signal emitted by the live equipment, and generating direct-aiming strike data according to the laser coded signal; the satellite positioning module is used for acquiring a target position in real time; the target position comprises current latitude and longitude data of the intelligent target; the 4G / 5G wireless communication module is used for real-time data communication between the intelligent target and the target adapter; the mobile control module is used for controlling the movement and steering of the platform according to the received mobile control instruction; and the damage state display module is used for displaying the damage state of the target through sound and light and smoke after receiving the damage decision result.

[0020] In one of the embodiments, the method further comprises: after the mobile control module receives the mobile control instruction, acquiring current latitude and longitude of the intelligent target and a target point array; the target point array and the mobile control instruction are obtained by converting the format of the mobile control data through the target adapter; and according to the current latitude and longitude and the latitude and longitude of each target point, the mobile direction is calculated in real time, and the chassis steering system is controlled to move towards the next target point.

[0021] In one of the embodiments, the method further comprises: the live equipment comprises a satellite positioning module, a 4G / 5G wireless communication module, a laser direct-aiming weapon, an indirect-aiming weapon and a damage state display module; the laser direct-aiming weapon is used for emitting laser to strike the intelligent target; the indirect-aiming weapon is used for generating indirect-aiming strike data according to the type of ammunition, the position of the striking side and the position of the landing point; the satellite positioning module is used for acquiring the position of the live equipment in real time; the position of the live equipment comprises current latitude and longitude data of the live equipment; the 4G / 5G wireless communication module is used for real-time data communication between the live equipment and the live adapter; and the damage state display module is used for displaying the damage state of the live equipment through sound and light alarm and smoke after receiving the damage decision result.

[0022] A virtual-real integrated training method based on an intelligent target, the method comprising:

[0023] constructing a virtual-real integrated training system; the virtual-real integrated training system comprises a field equipment unit, an adapter unit, a virtual soldier unit, a data communication middleware and a damage decision unit; the field equipment unit comprises an intelligent target and live equipment; the adapter unit comprises a target adapter and a live adapter; the virtual soldier unit comprises a target virtual soldier agent model and a pure virtual soldier model; the field equipment unit is in communication connection with the adapter unit, and the adapter unit, the virtual soldier unit and the damage decision unit are in communication connection with the data communication middleware;

[0024] Subscribing, by the damage decision unit, to a strike interaction from the data communication middleware, damage evaluation and decision calculation are performed on the strike interaction to obtain a damage decision result;

[0025] Defining and distributing, by the data communication middleware, interaction data among the adapter unit, the dummy unit and the damage decision unit; the interaction data includes a direct-fire strike interaction published by an intelligent target, an indirect-fire strike interaction published by a real equipment, a strike interaction published by a target dummy agent model, a strike interaction published by a dummy model and a damage decision result published by a damage decision unit;

[0026] The intelligent target updates its damage state according to a target damage decision result; the target damage decision result includes damage decision results corresponding to the direct-fire, indirect-fire strike interactions output by the real equipment and the strike interaction output by the pure dummy model;

[0027] The real equipment and the pure dummy model update their damage states according to damage decision results corresponding to the strike interaction output by the target dummy agent model.

[0028] The above-mentioned virtual-real integrated training system and method based on an intelligent target, through the adapter unit, connects the intelligent target and the real equipment in the field equipment unit to the training system, and completes the format conversion when the field equipment unit and the data communication middleware perform data interaction, so that the dummy unit and the damage decision unit in the training system can obtain real-time data generated by the field equipment during training in real time. The intelligent target updates its damage data in real time by obtaining a target damage decision result, realizes the perception and strike of the dummy on the real equipment, and through the target adapter, the intelligent target is used as a target dummy agent model in reality. The target dummy agent model publishes a strike interaction to the data communication middleware. The entity equipment and the pure dummy model update their damage states by obtaining the damage decision result of being struck, and realize the perception and strike of the real equipment on the dummy. In the embodiment of the present application, the intelligent target is used to realize the perception and strike of the real equipment on the dummy, so that the virtual-real combination of the confrontation training is more closely, the training is more realistic, and the effect of the performance training is more obvious. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a network structure diagram of the virtual-real integrated training system based on an intelligent target in one embodiment;

[0030] Figure 2 It is a hardware structure and business data flow diagram of the intelligent target in one embodiment;

[0031] Figure 3 It is a maneuvering program flowchart of the intelligent target in one embodiment;

[0032] Figure 4A smart target adapter structure and a service data flow chart in one embodiment;

[0033] Figure 5 A service data flow chart of each unit in one embodiment;

[0034] Figure 6 A flow chart of a live equipment attack smart target in one embodiment;

[0035] Figure 7 A flow chart of a pure virtual model attack smart target in one embodiment;

[0036] Figure 8 A flow chart of a smart target attacking a pure virtual model and live equipment in one embodiment;

[0037] Figure 9 A flow chart of a smart target-based virtual-real integrated training method in one embodiment; DETAILED DESCRIPTION

[0038] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0039] In one embodiment, as shown in Figure 1 a smart target-based virtual-real integrated training system is provided, comprising:

[0040] a field equipment unit, an adapter unit, a virtual soldier unit, a data communication middleware and a damage decision unit; the field equipment unit includes a smart target and live equipment; the adapter unit includes a target adapter and a live soldier adapter; the virtual soldier unit includes a target virtual soldier agent model and a pure virtual model;

[0041] The field equipment unit is in communication connection with the adapter unit, and the adapter unit, the virtual soldier unit and the damage decision unit are in communication connection with the data communication middleware;

[0042] The damage decision unit is used to subscribe to attack interactions from the data communication middleware, perform damage evaluation and decision calculation on the attack interactions, and obtain damage decision results;

[0043] The data communication middleware is used to define and distribute interactive data among the adapter unit, the virtual soldier unit and the damage decision unit; the interactive data includes direct-fire attack interactions published by the smart target, indirect-fire attack interactions published by the live equipment, attack interactions published by the target virtual soldier agent model, attack interactions published by the virtual model and damage decision results published by the damage decision unit;

[0044] The intelligent target updates its own damage status based on the target damage assessment results; the target damage assessment results include the damage assessment results corresponding to the direct and indirect aiming interactions output by the live-fire equipment and the attack interactions output by the pure virtual army model.

[0045] The actual equipment and the pure virtual army model update their own damage status according to the damage judgment result corresponding to the strike interaction output by the target virtual army agent model.

[0046] In the aforementioned integrated virtual-real training system based on intelligent targets, an adapter unit connects the intelligent targets and live-fire equipment in the field equipment unit to the training system. This adapter unit also handles the format conversion during data interaction between the field equipment unit and the data communication middleware. This allows the virtual soldier unit and damage assessment unit in the training system to acquire real-time data generated by the field equipment during training. The intelligent target updates its own damage data in real time by acquiring the target damage assessment results, enabling virtual soldiers to perceive and engage live soldiers. The target adapter acts as a proxy for the virtual soldier model in reality. The virtual soldier proxy model publishes the attack interaction to the data communication middleware. The physical equipment and the pure virtual soldier model update their own damage status by acquiring the damage assessment results of the attacks, enabling live soldiers to perceive and engage virtual soldiers. This embodiment of the invention uses intelligent targets to achieve live soldiers' perception and engagement of virtual soldiers, making the integration of virtual and real combat training closer, increasing the realism of the training, and making the training effect more obvious.

[0047] like Figure 1 The network structure diagram of the intelligent target-based virtual-real integrated training system shown illustrates the following: Since the intelligent targets and live-fire equipment are deployed in the training field, the networking method of the intelligent target-based virtual-real integrated training system is as follows: The intelligent targets and live-fire equipment first connect to a nearby communication base station via 4G / 5G wireless communication, and then connect to the adapter unit via UDP communication. The adapter unit then connects to the virtual soldier unit, the damage assessment unit, and the data communication middleware via TCP communication. Live-fire equipment connects to the training system through the live-fire adapter, enabling virtual soldiers to perceive and engage live soldiers. Using the intelligent target as a proxy for the target virtual soldier agent model in the real-world scenario enables live soldiers to perceive and engage virtual soldiers. The intelligent targets and live-fire equipment connect to the training system through their respective adapters. The adapters handle the protocol conversion of the intelligent target and live-fire equipment's position data, status data, engagement data, and attack assessment results, without involving software modifications to the field equipment units, virtual soldier units, damage assessment units, or middleware. Therefore, the coupling between the various units of the system is low.

[0048] exist Figure 1In the system, the data communication middleware is a distributed simulation service tool software, responsible for system simulation time advancing. It provides interactive data definition tool, data communication service and a set of API(Application Programming Interface) functions. When the system is built, the data definition tool provided by the middleware is used to define the interactive data between each unit in the system, which is identifiable and has a fixed format. Then the adapter unit, virtual unit and damage decision unit use the API provided by the middleware to develop the communication interface connected to the middleware. When the system is running, the units connected to the middleware publish / subscribe the interactive data according to their own needs.

[0049] The damage decision unit is responsible for damage assessment and decision calculation of all direct / indirect fire interactions in the system. The strike interactions output by the virtual unit and the adapter unit in the system are first published to the middleware. The damage decision unit subscribes from the middleware, and then performs real-time damage assessment and decision according to the type of strike interaction, the type of ammunition in the interaction, the distance between the striking side and the struck side, and the striking position. Finally, the decision result is published to the middleware. The virtual unit and the adapter unit subscribe to their respective decision results from the middleware. As an independent unit, the damage decision unit is responsible for damage calculation of all strike interactions, and shares the damage calculation pressure of the virtual unit and the adapter unit.

[0050] The intelligent target in the field equipment unit is configured with two types of tanks and individual soldiers, and the hardware is respectively based on the modification of automobile chassis and small four-wheel robot platform. On the basis of the original platform, laser receiving module, 4G / 5G wireless communication module, satellite positioning module, mobile control module and damage state display module are added, and the damage state display module is configured with sound and light alarm and smoke tube. Each module is managed and controlled by the central processing unit MCU(Microcontroller Unit).

[0051] In one embodiment, as Figure 2As shown, an intelligent target hardware structure and a service data flow chart are provided, the intelligent target comprising a laser receiving module, a 4G / 5G wireless communication module, a satellite positioning module, a mobile control module, and a damage state display module; the laser receiving module is used for receiving a laser coded signal transmitted by actual equipment, and generating direct-aiming attack data according to the laser coded signal; the satellite positioning module is used for acquiring a target position in real time; the target position comprises current latitude and longitude data of the intelligent target; the 4G / 5G wireless communication module is used for real-time data communication between the intelligent target and a target adapter; the mobile control module is used for controlling the movement and steering of the platform according to a received mobile control instruction; and the damage state display module is used for displaying the damage state of the target through sound and light and smoke after receiving a damage decision result. In this embodiment, the intelligent target is a combination of actual equipment and a target virtual soldier agent model, and has the properties of virtual and actual soldiers, and can perceive and attack each other with virtual and actual soldiers. The behavior of the intelligent target is controlled by the virtual soldier agent model, and has certain intelligent modification potential, which is convenient for intelligent iteration and upgrading in the future.

[0052] In one embodiment, as shown in Figure 3 As shown, an intelligent target hardware structure and a service data flow chart are provided, the intelligent target comprising a laser receiving module, a 4G / 5G wireless communication module, a satellite positioning module, a mobile control module, and a damage state display module; the laser receiving module is used for receiving a laser coded signal transmitted by actual equipment, and generating direct-aiming attack data according to the laser coded signal; the satellite positioning module is used for acquiring a target position in real time; the target position comprises current latitude and longitude data of the intelligent target; the 4G / 5G wireless communication module is used for real-time data communication between the intelligent target and a target adapter; the mobile control module is used for controlling the movement and steering of the platform according to a received mobile control instruction; and the damage state display module is used for displaying the damage state of the target through sound and light and smoke after receiving a damage decision result. In this embodiment, the intelligent target is a combination of actual equipment and a target virtual soldier agent model, and has the properties of virtual and actual soldiers, and can perceive and attack each other with virtual and actual soldiers. The behavior of the intelligent target is controlled by the virtual soldier agent model, and has certain intelligent modification potential, which is convenient for intelligent iteration and upgrading in the future.

[0053] In one embodiment, the real soldier equipment includes a satellite positioning module, a 4G / 5G wireless communication module, a laser direct sighting weapon, an indirect sighting weapon, and a damage state display module; the laser direct sighting weapon is used to launch a laser attack intelligent target; the indirect sighting weapon is used to generate indirect sighting attack data according to the ammunition type, the position of the attack side, and the position of the landing point; the satellite positioning module is used to obtain the position of the real soldier equipment in real time; the position of the real soldier equipment includes the current latitude and longitude data of the real soldier equipment; the 4G / 5G wireless communication module is used for real-time data communication between the real soldier equipment and the real soldier adapter; the damage state display module is used to display the damage state of the real soldier equipment through sound and light alarm and smoke after receiving the damage decision result. In this embodiment, the real soldier equipment in the field equipment unit is modified on the basis of the original real equipment, and the satellite positioning module, the 4G / 5G wireless communication module, the laser direct sighting weapon, the indirect sighting weapon, and the damage state display module are configured.

[0054] In one embodiment, as shown in Figure 4 , an intelligent target adapter structure and a business data flow direction diagram are provided, the target adapter includes a target UDP data communication sub-thread, a middleware TCP communication sub-thread, a protocol conversion module, a target state hash table, and a target-model mapping table; the target UDP data communication sub-thread is used for data communication in accordance with the communication protocol of the intelligent target, including real-time receiving of target position data, target state data, direct sighting attack data uploaded by the intelligent target, and real-time sending of damage decision results and maneuvering control data converted by the protocol to the intelligent target; the middleware TCP communication sub-thread is used for data communication in accordance with the communication architecture and protocol of the data communication middleware, including real-time publishing of intelligent target position data, target state data, direct sighting attack interaction converted by the protocol to the middleware, and real-time subscribing of target damage decision results and maneuvering control data from the middleware; the protocol conversion module is used for real-time format conversion of data transmission between the target UDP data communication sub-thread and the middleware TCP communication sub-thread; the target state hash table is used for saving and updating the target position and target state data of each intelligent target; the target state data includes platform maneuvering state data and target damage state data; the target-model mapping table is used for managing the matching relationship between the intelligent target and the target dummy agent model.

[0055] In the embodiment, the target adapter in the adapter unit is responsible for real-time data communication and protocol conversion between the smart target and the middleware. A set of adapter programs can configure and manage multiple smart targets. Through the target adapter, the smart target can implement the mobile control command of the target virtual agent model, the decision result of being attacked, and real-time feedback of the position and damage state data of the smart target to the target virtual agent model, and send the interaction of being directly aimed and attacked by the real soldier equipment to the damage decision unit. When the system is running, the smart target in the process of maneuvering, the adapter can monitor the safety distance of the smart target in the process of maneuvering according to the position data and the maneuvering state of all targets in the hash table. When the distance between the targets is less than the pre-set safety distance value, the adapter sends a maneuvering stop command to the corresponding target in the process of maneuvering in real time, realizing the anti-collision function of the smart target.

[0056] In one embodiment, the real soldier adapter includes a real soldier UDP data communication sub-thread, a middleware TCP communication sub-thread, a protocol conversion module, and a real soldier state hash table; the real soldier UDP data communication sub-thread is used for data communication in accordance with the communication protocol of the real soldier equipment, including real-time receiving of the real soldier equipment position, the real soldier equipment state data, the interval shooting data uploaded by the real soldier equipment, and real-time sending of the damage decision result after protocol conversion to the real soldier equipment; the middleware TCP communication sub-thread is used for data communication in accordance with the communication architecture and protocol of the data communication middleware, including real-time publishing of the real soldier equipment position, the real soldier equipment state data, the interval shooting interaction after protocol conversion to the data communication middleware, and real-time subscription of the real soldier damage decision result from the data communication middleware; the protocol conversion module is used for real-time format conversion of data transmission between the real soldier UDP data communication sub-thread and the middleware TCP communication sub-thread; the real soldier state hash table is used for saving and updating the real soldier equipment position and the real soldier equipment state data of each real soldier equipment; the real soldier equipment state data includes the real soldier equipment damage state data.

[0057] In this embodiment, the real soldier adapter in the adapter unit is responsible for real-time data communication and protocol conversion between the real soldier equipment and the middleware. A set of adapter programs can configure and manage multiple real soldier equipment. When the system is running, the real soldier adapter receives the position, state data and hitting data of the real soldier equipment in the real soldier UDP data communication sub-thread, and publishes the data to the middleware in the TCP communication sub-thread after protocol conversion. The real soldier adapter subscribes to the decision results of the real soldier equipment hit by the virtual soldier unit from the middleware in the TCP communication sub-thread, and sends the results to the real soldier equipment in the real soldier UDP communication sub-thread after protocol conversion. The virtual soldier unit subscribes to the position and state data of the real soldier equipment from the middleware, realizing the perception of the virtual soldier to the real soldier. The damage decision unit subscribes to the interaction of the real soldier equipment and the intelligent target from the middleware and makes damage decisions, realizing the real soldier equipment hitting the intelligent target. Through the real soldier adapter, the real soldier equipment can implement the decision results of being hit, and can also send its own position and damage state data to the virtual soldier unit, realizing the perception of the virtual soldier to the real soldier. When the real soldier equipment hits the target, the hitting interaction can be sent to the damage decision unit in real time.

[0058] In one embodiment, the steps of the target virtual soldier agent model and the virtual soldier model publishing the hitting interaction include: the target virtual soldier agent model and the pure virtual soldier model constructing a kd-Tree of all force positions in the current scene according to the target position, the real soldier equipment position and the virtual soldier position and the self position, searching for the adjacent forces in the specified range; if non-friendly forces are detected within the preset effective attack range, the non-friendly forces are autonomously selected for hitting according to the preset priority and the current terrain visibility, and the hitting interaction is published to the data communication middleware.

[0059] In this embodiment, when the system is running, the target virtual soldier agent model in the virtual soldier unit subscribes to the position and damage state data from the intelligent target, the real soldier equipment and the pure virtual soldier model from the middleware in real time, and publishes the intelligent target's maneuvering control data and the direct / indirect hitting interaction to the middleware in real time; the pure virtual soldier model subscribes to the position and damage state data of the intelligent target, the real soldier equipment and other pure virtual soldier models from the middleware in real time, and publishes the direct / indirect hitting interaction and its own position and damage state data to the middleware in real time. The target virtual soldier agent model and the pure virtual soldier model subscribe to the position and state data of other forces from the middleware, can realize the perception of other forces, and select the hitting target according to the distance between the target force and itself according to the preset priority, and send the hitting interaction to the middleware.

[0060] In one embodiment, after the intelligent target updates its own damage status based on the target damage assessment result, the method further includes: the target virtual soldier agent model updating its own position and damage status based on the target position and target status data currently published by the intelligent target. In this embodiment, the target virtual soldier agent model and the pure virtual soldier model are computer-generated forces with a certain degree of autonomous decision-making ability, capable of autonomous maneuvering and selecting targets for attack. Unlike the pure virtual soldier model, the target virtual soldier agent model, after planning its maneuver path, does not update its own position data. Instead, it sends the maneuver data to the intelligent target and then updates its own position based on the position data fed back by the intelligent target in real time. Similarly, the damage status of the target virtual soldier agent model is also updated synchronously based on the status fed back by the intelligent target in real time.

[0061] In one embodiment, the interactive data also includes target status data and target location published by the smart target, real equipment location and real equipment status data published by the physical equipment, maneuver control data published by the target virtual soldier proxy model, and virtual soldier location and virtual soldier status data published by the pure virtual soldier model.

[0062] like Figure 5 The diagram shows the data flow of each unit. The position and status data of all forces are transmitted through middleware in each simulation step. Direct / indirect fire data and damage assessment results are only transmitted in the system when forces interact. Maneuver control data is only transmitted when the target dummy agent model maneuvers. To make the operational logic and flow of data between the system units clearer, the following detailed explanation of the business processes of three key embodiments of the system, in conjunction with the accompanying drawings, is provided.

[0063] like Figure 6 As shown, a flowchart illustrating the process of live-fire equipment engaging smart targets is provided. When a live-fire equipment's laser-guided direct-fire weapon engages a smart target, the smart target's laser receiving module receives the laser-encoded signal. The target then generates direct-fire data based on the hit location, laser weapon encoding, target's own encoding, and target position, and sends it to the target adapter. The adapter then generates a direct-fire interaction recognizable by the damage assessment unit and publishes it to the middleware. When a live-fire equipment engages a target with indirect fire, the indirect-fire weapon directly generates attack data including ammunition type, attacker's position, and impact point, and sends it to the live-fire adapter. The adapter then generates an indirect-fire interaction recognizable by the damage assessment unit and publishes it to the middleware. The damage assessment unit subscribes to the direct / indirect-fire interaction from the middleware and performs damage assessment, publishing the assessment result to the middleware. The target adapter subscribes to the assessment result from the middleware, completes data format conversion, and sends it to the corresponding smart target. The smart target ultimately updates its damage status through a status display module. Finally, the smart target updates its own damage status to the corresponding target virtual agent model through the adapter and middleware.

[0064] As shown in Figure 7 , a pure virtual troop model attack intelligent target flow chart is provided, when the pure virtual troop model perceives the intelligent target virtual troop agent model within the attack range, direct generation of direct / indirect attack interaction is generated and published to the middleware. The damage decision unit subscribes to the attack interaction from the middleware to make damage decisions, and then publishes the decision results to the middleware. The target adapter subscribes to the decision results from the middleware and sends them to the corresponding intelligent target after data format conversion. The intelligent target finally updates the damage state through the state display module. Finally, the intelligent target updates its damage state to the corresponding target virtual troop agent model through the adapter and the middleware.

[0065] As shown in Figure 8 , a pure virtual troop model attack intelligent target flow chart is provided, when the pure virtual troop model perceives the intelligent target virtual troop agent model within the attack range, direct generation of direct / indirect attack interaction is generated and published to the middleware. The damage decision unit subscribes to the attack interaction from the middleware to make damage decisions, and then publishes the decision results to the middleware. The target adapter subscribes to the decision results from the middleware and sends them to the corresponding intelligent target after data format conversion. The intelligent target finally updates the damage state through the state display module. Finally, the intelligent target updates its damage state to the corresponding target virtual troop agent model through the adapter and the middleware.

[0066] In one embodiment, as shown in Figure 9 , a virtual-real integrated training method based on an intelligent target is provided, comprising the following steps:

[0067] Step 902, constructing a virtual-real integrated training system.

[0068] The virtual-real integrated training system includes a field equipment unit, an adapter unit, a virtual troop unit, a data communication middleware and a damage decision unit; the field equipment unit includes an intelligent target and a real troop equipment; the adapter unit includes a target adapter and a real troop adapter; the virtual troop unit includes a target virtual troop agent model and a pure virtual troop model; the field equipment unit is in communication connection with the adapter unit, and the adapter unit, the virtual troop unit and the damage decision unit are in communication connection with the data communication middleware.

[0069] Step 904, subscribing to attack interaction from the data communication middleware through the damage decision unit, damage evaluation and decision calculation on the attack interaction, and obtaining damage decision results.

[0070] Step 906, defining and distributing interaction data between the adapter unit, the virtual troop unit and the damage decision unit through the data communication middleware.

[0071] The interaction data includes direct-fire interaction of the intelligent target announcement, indirect-fire interaction of the real soldier equipment announcement, striking interaction of the target virtual soldier agent model announcement, striking interaction of the virtual soldier model announcement, and damage decision result of the damage decision unit announcement.

[0072] At step 908, the intelligent target updates its damage state according to the target damage decision result. The target damage decision result includes damage decision results corresponding to the direct-fire and indirect-fire striking interactions of the real soldier equipment output and the striking interaction of the pure virtual soldier model output.

[0073] At step 910, the real soldier equipment and the pure virtual soldier model update their damage states according to the damage decision results corresponding to the striking interactions of the target virtual soldier agent model output.

[0074] It should be understood that, although Figure 9 The steps in the flowchart of the method can be displayed in sequence according to the arrows, but these steps are not necessarily executed in sequence according to the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, Figure 9 At least part of the steps in the method can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0075] For specific limitations of the intelligent target-based virtual-real integrated training method, reference can be made to the limitations of the intelligent target-based virtual-real integrated training system described above, which will not be repeated here. The various modules in the intelligent target-based virtual-real integrated training system described above can be realized by software, hardware, and combinations thereof, in whole or in part. The various modules described above can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the various modules.

[0076] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0077] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. An intelligent target-based virtual-real integrated training system, characterized in that, The system comprises a field equipment unit, an adapter unit, a virtual troop unit, a data communication middleware and a damage decision unit; the field equipment unit comprises intelligent targets and real troops; the adapter unit comprises target adapters and real troop adapters; the virtual troop unit comprises target virtual troop agent models and pure virtual troop models; The field equipment unit is in communication connection with the adapter unit, and the adapter unit, the virtual troop unit and the damage decision unit are in communication connection with the data communication middleware; The damage decision unit is used for subscribing to strike interactions from the data communication middleware, performing damage evaluation and decision calculation on the strike interactions, and obtaining damage decision results; The data communication middleware is used for definition and distribution of interactive data among the adapter unit, the virtual troop unit and the damage decision unit; the interactive data comprises direct-fire strike interactions published by intelligent targets, indirect-fire strike interactions published by real troops, strike interactions published by target virtual troop agent models, strike interactions published by virtual troop models and damage decision results published by the damage decision unit; The intelligent targets update their damage states according to target damage decision results; The target damage decision results comprise damage decision results corresponding to direct-fire and indirect-fire strike interactions output by real troops and strike interactions output by pure virtual troop models; The real troops and the pure virtual troop models update their damage states according to damage decision results corresponding to strike interactions output by the target virtual troop agent models; The interactive data further comprises target state data and target positions published by intelligent targets, real troop positions and real troop state data published by real troops, maneuvering control data published by target virtual troop agent models and virtual troop positions and virtual troop state data published by pure virtual troop models; The steps of publishing strike interactions by target virtual troop agent models and virtual troop models comprise: The target virtual troop agent models and the pure virtual troop models construct kd-Tree of positions of all troops in a current scene in real time according to the target positions, real troop positions and virtual troop positions and their own positions, and search for adjacent troops in a specified range; If non-friendly troops are detected within a preset effective attack range, the non-friendly troops are autonomously selected for strike according to preset priorities and current terrain visibility, and strike interactions are published to the data communication middleware; The intelligent targets comprise a laser receiving module, a 4G / 5G wireless communication module, a satellite positioning module, a maneuvering control module and a damage state display module; The laser receiving module is used for receiving laser coded signals emitted by the real troops, and generates direct-fire strike data according to the laser coded signals; The satellite positioning module is used for acquiring target positions in real time; the target positions comprise current latitude and longitude data of the intelligent targets; The 4G / 5G wireless communication module is used for real-time data communication between the intelligent targets and the target adapters; The maneuvering control module is used for controlling maneuvering and steering of the platform according to received maneuvering control instructions; The damage state display module is used for exhibiting damage states of the targets through sound and light and smoke after receiving the damage decision results.

2. The system of claim 1, wherein, After the intelligent target updates its damage state according to the target damage decision result, the method further comprises: The target dummy agent model updates its position and damage state according to the target position and target state data published by the intelligent target.

3. The system of claim 1, wherein, The target adapter comprises a target UDP data communication sub-thread, a middleware TCP communication sub-thread, a protocol conversion module, a target state hash table and a target-agent mapping table. The target UDP data communication sub-thread is used for data communication in compliance with the communication protocol of the intelligent target, including real-time receiving of target position data, target state data and direct-fire attack data uploaded by the intelligent target, and real-time sending of the damage decision result and maneuvering control data converted by the protocol conversion module to the intelligent target. The middleware TCP communication sub-thread is used for data communication in compliance with the communication architecture and protocol of the data communication middleware, including real-time publishing of the target position and target state data, direct-fire attack interaction to the middleware, and real-time subscribing of the target damage decision result and maneuvering control data from the middleware. The protocol conversion module is used for real-time format conversion of data transmission between the target UDP data communication sub-thread and the middleware TCP communication sub-thread. The target state hash table is used for saving and updating the target position and target state data of each intelligent target; the target state data comprises platform maneuvering state data and target damage state data. The target-agent mapping table is used for managing the matching relationship between the intelligent target and the target dummy agent model.

4. The system of claim 1, wherein, The real soldier adapter comprises a real soldier UDP data communication sub-thread, a middleware TCP communication sub-thread, a protocol conversion module and a real soldier state hash table. The real soldier UDP data communication sub-thread is used for data communication in compliance with the communication protocol of the real soldier equipment, including real-time receiving of real soldier equipment position data, real soldier equipment state data and indirect-fire attack data uploaded by the real soldier equipment, and real-time sending of the damage decision result converted by the protocol conversion module to the real soldier equipment. The middleware TCP communication sub-thread is used for data communication in compliance with the communication architecture and protocol of the data communication middleware, including real-time publishing of the real soldier equipment position and real soldier equipment state data, indirect-fire attack interaction to the data communication middleware, and real-time subscribing of the real soldier equipment damage decision result from the data communication middleware. The protocol conversion module is used for real-time format conversion of data transmission between the real soldier UDP data communication sub-thread and the middleware TCP communication sub-thread. The real soldier state hash table is used for saving and updating the real soldier equipment position and real soldier equipment state data of each real soldier equipment; the real soldier equipment state data comprises real soldier equipment damage state data.

5. The system of claim 1, wherein, The step of controlling the maneuvering and steering of the platform according to the received maneuvering control instruction comprises: After the maneuvering control module receives the maneuvering control instruction, the current latitude and longitude of the intelligent target and a target point array are obtained; the target point array and the maneuvering control instruction are obtained by converting the format of the maneuvering control data through the target adapter. According to the current latitude and longitude and the latitude and longitude of each target point, a real-time computer maneuvering direction is calculated to control the chassis steering system to maneuver towards the next target point.

6. The system of claim 4, wherein, The real soldier equipment includes a satellite positioning module, a 4G / 5G wireless communication module, a laser direct sighting weapon, an indirect sighting weapon, and a damage state display module; The laser direct sighting weapon is used to emit laser strikes on intelligent targets; The indirect sighting weapon is used to generate indirect sighting strike data according to the type of ammunition, the position of the striking party, and the position of the landing point; The satellite positioning module is used to obtain the position of the real soldier equipment in real time; the position of the real soldier equipment includes the current latitude and longitude data of the real soldier equipment; The 4G / 5G wireless communication module is used for real-time data communication between the real soldier equipment and the real soldier adapter; The damage state display module is used to display the damage state of the real soldier equipment through sound and light alarm and smoke after receiving the damage decision result.

7. A smart target-based virtual-real integrated training method implemented in the system according to any one of claims 1-6. The method comprises: A virtual-real integrated training system is constructed; the virtual-real integrated training system includes a field equipment unit, an adapter unit, a virtual soldier unit, a data communication middleware, and a damage decision unit; the field equipment unit includes intelligent targets and real soldier equipment; the adapter unit includes target adapters and real soldier adapters; the virtual soldier unit includes target virtual soldier agent models and pure virtual soldier models; the field equipment unit is in communication connection with the adapter unit, and the adapter unit, the virtual soldier unit, and the damage decision unit are in communication connection with the data communication middleware; The damage decision unit subscribes to strike interactions from the data communication middleware, performs damage evaluation and decision calculation on the strike interactions, and obtains damage decision results; The data communication middleware defines and distributes interaction data between the adapter unit, the virtual soldier unit, and the damage decision unit; the interaction data includes direct sighting strike interactions published by intelligent targets, indirect sighting strike interactions published by real soldier equipment, strike interactions published by target virtual soldier agent models, strike interactions published by virtual soldier models, and damage decision results published by the damage decision unit; The intelligent targets update their damage states according to target damage decision results; the target damage decision results include damage decision results corresponding to direct sighting and indirect sighting strike interactions output by real soldier equipment and strike interactions output by pure virtual soldier models; The real soldier equipment and the pure virtual soldier model update their damage states according to damage decision results corresponding to strike interactions output by the target virtual soldier agent model.

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