A virtual-real combined simulation training system for earth-shaking equipment

Abstract

The application discloses a virtual-real combined mine explosion equipment simulation training system, which comprises a mine simulation terminal, a minefield controller simulation terminal, a mine laying / disposing device, a rocket mine sweeping and barrier breaking vehicle simulation terminal, a guide intervention computer, a data distribution processing computer and a situation display computer.

Description

Technical Field

[0001] This invention belongs to the field of ground blast training systems, and in particular to a virtual-real combined ground blast equipment simulation training system. Background Technology

[0002] Currently, soldier training methods are mainly divided into two types: live-fire training and simulation training. Undoubtedly, live-fire training is more effective than simulation training, allowing soldiers to experience the actual battlefield environment more realistically and directly and effectively improving their combat capabilities. However, live-fire training is also significantly more expensive and inevitably carries certain safety risks.

[0003] Regarding landmine explosive ordnance, in live-fire training, the number of mines laid to create a minefield needs to be substantial, and the cost of a single mine is not low. Furthermore, landmines are consumables and may not be reusable after a single training session. Secondly, the high requirements for the training ground, the complex mine-clearing process, the difficulty in retrieving mines, and the high risk factor all contribute to a degree of unpredictability. Therefore, on the one hand, the requirements are high, and training with landmine explosive ordnance may be less frequent compared to other equipment; on the other hand, the many unpredictable factors make live-fire training potentially more dangerous for new recruits.

[0004] There are relatively few landmine training systems currently available. If live-fire training is used, there are many challenges: high cost, low reusability, high site requirements, difficulty in landmine recovery, and significant safety hazards. Summary of the Invention

[0005] The purpose of this invention is to provide a virtual-real combined simulation training system for ground explosive equipment. The ground explosive equipment uses a simulation terminal and can simulate multiple training projects such as mine clearance, mine laying, and mine sweeping. It is not only easy to transport and operate, but also easy to recover and safe and reliable.

[0006] The technical solution to achieve the purpose of this invention is as follows:

[0007] A virtual-real combined simulation training system for ground explosive devices includes:

[0008] A landmine simulation terminal is used to simulate actual landmines and has functions of laying, triggering, and clearing them.

[0009] The minefield controller simulation terminal periodically scans nearby mine simulation terminals, interacts with them for information collection and status control, uploads mine information to the data distribution and processing computer, and receives control commands from the guidance and intervention computer through the data distribution and processing computer to complete the elimination of the corresponding numbered mine simulation terminal.

[0010] The mine-clearing / mine-laying device is used to simulate the actual mine-clearing / mine-laying actions of soldiers. It is carried by actual sappers and collects the soldiers' location information in real time and interacts with the mines. It sends the location information and mine-clearing / mine-laying command information to the mine simulation terminal and sends the mine-clearing / mine-laying event information to the data distribution and processing computer. It receives the signal emitted when the mine detonates to determine whether a soldier has been injured and simulates the explosion sound effect of a soldier being injured by a mine.

[0011] The rocket-propelled mine-clearing and obstacle-breaching vehicle simulation terminal, installed on an actual mine-clearing vehicle, can select to perform plowing and rocket-propelled mine-clearing operations to simulate actual mine-clearing and obstacle-breaching operations; it can collect real-time location information of the mine-clearing vehicle, as well as the actual firing direction and angle information of the gun barrel.

[0012] The control and intervention computer is used for the network access of the above-mentioned simulated terminals and the information interaction with each simulated terminal;

[0013] The data distribution and processing computer forwards data in real time to the corresponding command and intervention computer, situation display computer and various simulation terminals, and distributes the control commands issued by the command and intervention computer to the minefield controller.

[0014] The situation display computer receives terminal information and action instructions distributed by the data distribution computer and updates the status and action tasks of each simulated terminal in real time during training. It displays individual soldier / platoon / mine-laying actions, as well as the mine-clearing actions of the rocket-propelled mine-clearing vehicle simulation terminal, at corresponding locations on the map / virtual scene. If the rocket-propelled mine-clearing vehicle simulation terminal performs a sweeping operation, it calculates the cleared mine number information based on the real-time location of the mine-clearing vehicle, the clearing radius parameters, and the location of the mine simulation terminal. Mine numbers near the rocket-propelled mine-clearing vehicle in the map / virtual scene will be cleared. If the rocket-propelled mine-clearing vehicle simulation terminal performs a rocket-propelled mine-clearing operation, it calculates the damaged area in the virtual scene / map based on the obtained shell impact points, and makes a judgment based on the mine location information to clear the mines in that area. The situation display computer then sends the cleared mine number information to the command and control intervention computer.

[0015] The significant advantages of this invention compared to existing technologies are:

[0016] In this system, the ground blasting equipment uses simulated terminals, which are low-cost, reusable, and have a low risk factor. The ground blasting system is equipped with positioning and display control modules, and the training equipment is easy to operate and retrieve. The training process is displayed in three dimensions, allowing for remote real-time observation of the entire process. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the principle of a landmine simulation terminal.

[0018] Figure 2This is a schematic diagram of the structure of a pressure-activated / tripwire-activated landmine simulation terminal.

[0019] Figure 3 This is a block diagram of the principle of a lightning field controller.

[0020] Figure 4 This is a block diagram of a drain / mine laying device.

[0021] Figure 5 The schematic diagram of the simulation terminal for the rocket mine-clearing and obstacle-breaking vehicle.

[0022] Figure 6 This is a diagram of the structure of a ground-based explosive device simulation training system.

[0023] Figure 7 This is a data interaction diagram for a ground-based explosive device simulation training system.

[0024] Figure 8 This is a schematic diagram illustrating the engineering mine-laying process.

[0025] Figure 9 A schematic diagram illustrating the mine clearance process for engineers.

[0026] Figure 10 Flowchart for computer-controlled mine intervention.

[0027] Figure 11 A schematic diagram illustrating the process of a rocket-propelled mine-clearing and obstacle-breaching vehicle clearing obstacles.

[0028] Figure 12 A schematic diagram illustrating the rocket mine-clearing process using a rocket mine-clearing and obstacle-clearing vehicle. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] Ground blasting training programs can be mainly divided into the following types: engineer mine laying, engineer mine clearance, mine clearing and obstacle breaching vehicle plowing, and mine clearing and obstacle breaching vehicle rocket mine clearance. To simulate these training processes, a complete simulation training environment needs to be constructed using software and hardware. Details of the main system components can be found in [link to system description]. Figures 1-12 .

[0031] First, multiple types of simulation terminals are needed to simulate various military entities, such as mine simulation terminals, mine clearing / laying devices, rocket-propelled mine clearance vehicle simulation terminals, and minefield controllers. These terminal devices are powered by rechargeable batteries, and restarting the device initializes its state, thus ensuring reusability.

[0032] 1) Mine simulation terminal

[0033] Used to simulate actual landmines, it has functions such as deployment, triggering, and disposal. (Refer to...) Figure 1As shown, the landmine simulation terminal mainly includes a Zigbee module, a LoRa module, an infrared communication module, status indicator lights, and a buzzer. The Zigbee module is used to emit damage signals (the signal strength is set according to the damage distance of the landmine); the LoRa module is used for information exchange with the minefield controller (uploading landmine status information: power, fault, detonation / activation / disposal status, etc.); the infrared communication module is used for information exchange with the mine clearing / laying device (controlling landmine status, responding to commands, etc.); the status indicator lights are used to display the landmine status (activated / disposal / detonation) according to the flashing color (red / green / blue); the buzzer is used to simulate the effects of landmine activation, disposal, and detonation. When activated / disposaled, it emits a "beep" sound, and when detonated, it emits a continuous "beep beep beep" sound.

[0034] The mine simulation terminal can be designed to resemble the actual equipment, thus simulating various military mines (such as pressure-activated and tripwire-activated mines). Its destructive capability can be controlled by adjusting the strength of the emitted Zigbee signal. Figure 2 As shown, the design can vary depending on the triggering method (pressure trigger / tripwire trigger). Tripwire mines are triggered by pulling the pin, while pressure mines are triggered by pressing down to a specified pressure. Just like actual landmines, when a landmine is pressed down or the pin is pulled, it will trigger itself and send out a damage signal. In addition, triggering can only "detonate the landmine" (determined by an internal program) if the landmine is in an active state.

[0035] When the mine-laying device is aimed at the infrared receiver of the simulated terminal to activate the mine, the mine emits a "beep" sound, and the status indicator light shows that the mine is activated, indicating successful mine laying. If the mine is triggered, the terminal will transmit a Zigbee signal, the buzzer will sound, and the status indicator light will change to the detonation status. The mine-clearing process is similar. The mine-laying device removes the mine from the simulated terminal, and the status indicator light shows that the mine has been cleared, indicating successful mine clearance. If the mine is triggered, there will be no response.

[0036] 2) Minefield controller simulation terminal

[0037] Primarily used for information acquisition and status control in mine simulation terminals. It is a portable physical terminal device, typically placed within the minefield area constructed by the mine simulation terminal. (See reference...) Figure 3 As shown, the terminal mainly includes a Lora communication module, a 4G / 5G communication module, a positioning module, and a display and control module. The Lora module is used for information exchange with the mine simulation terminal; the 4G / 5G communication module is used for network access communication; the positioning module is used to collect the location information of the minefield controller; and the display and control touch screen module is used to display the information of the detected mine simulation terminal.

[0038] By powering on the minefield controller's simulated terminal, it can periodically scan nearby mine simulation terminals, displaying them in a list on the control screen and updating the mine status information (location, fault, activation / removal, etc.) in real time. Additionally, the minefield controller can periodically upload mine information via 4G / 5G; upon receiving control commands, it can also interact with the mine simulation terminals via LoRa communication to control the status of the corresponding terminals.

[0039] 3) Drilling / laying device

[0040] Primarily used to simulate actual soldier mine-laying / disposal operations. It's a portable, mobile phone-like terminal carried by actual engineers during training. It can display real-time individual soldier status information (location, overall injury status, etc.), event information (individual mine-laying, individual mine-clearing, mine damage events, etc.), and perform mine-clearing operations. (Refer to...) Figure 4 As shown, the terminal mainly includes an infrared communication module, a 4G / 5G communication module, a positioning module, a Zigbee module, a touchscreen display and control module, and a voice module. The 4G / 5G communication module is used for the terminal's network access during mine clearance / laying operations, uploading soldier status information in real time and receiving control commands; the Zigbee module is used to receive the Zigbee signal emitted when a landmine detonates, thereby determining whether a soldier has been injured; the infrared communication module is used for information interaction with landmines during mine clearance / laying operations (transmitting location information to landmines, controlling landmine status, etc.); the positioning module is used to collect soldier location information in real time; the touchscreen display and control module is used for soldiers to view their own status information and event information, and can also be used to complete mine clearance / laying operations via touch; the voice module is used to simulate the sound effect of an explosion when a soldier is injured by a landmine.

[0041] Point the infrared transmitter of the mine-clearing / mine-laying device at the infrared receiver of the mine simulation terminal, select "Mine Clearing / Mine Laying" on the touchscreen, and confirm the selection. At this point, the mine terminal is assigned the real-time location information of the mine-clearing / mine-laying device. The mine emits a "beep" sound, and the status indicator light changes, indicating that the mine-clearing / mine-laying operation is complete. Simultaneously, the display screen will show a pop-up "Mine Laying / Mine Clearing Successful" event. If a soldier accidentally triggers a laid mine during an operation, the mine-clearing / mine-laying device will receive a damage signal from the mine. The voice module will emit an explosion sound and announce "Damaged." At this time, the display screen will show "Dead," and the "Mine Clearing / Mine Laying" option will become unavailable.

[0042] 4) Rocket-powered mine-clearing and obstacle-breaching vehicle simulation terminal

[0043] Primarily used to simulate actual mine-clearing and obstacle-breaking vehicles and mine-clearing operations. It is a physical terminal device mounted on the roof of an actual mine-clearing vehicle, which can be firmly attached to the roof using magnets. (Refer to...) Figure 5As shown, it mainly includes a terminal host module, a 4G / 5G communication module, a positioning module, a voice module, a Zigbee module, a display and control touch screen module, a gun barrel firing direction and angle acquisition module, and connecting cables. The 4G / 5G communication module is used for network access and communication of the rocket mine-clearing vehicle simulation terminal, uploading vehicle status information (location, comprehensive damage, ammunition carried, etc.) and receiving control commands in real time; the Zigbee module is used to receive Zigbee signals emitted when landmines detonate; the positioning module is used to collect the real-time location information of the mine-clearing vehicle; the display and control touch screen module can be connected to the terminal host on the roof via wiring and placed inside the actual vehicle for soldiers to operate. It can be used to display the mine-clearing vehicle status and event information (plowing, rocket mine-clearing, etc.), and can also be used to select the plowing, rocket mine-clearing operation to be performed via the touch screen; the barrel firing direction and angle acquisition module consists of master / slave antennas, one placed at the bottom of the barrel and the other at the front of the barrel, connected to the terminal host via cable, to collect the firing direction and angle information of the actual barrel, which is convenient for calculating the launch, impact point, damage, etc. of simulated rocket mine-clearing projectiles; the voice module is used to simulate the sound effects of rocket mine-clearing projectile launch.

[0044] The soldier inside the vehicle selects "Plowing" on the display screen of the simulation terminal, confirms "Start," and the actual mine-clearing vehicle drives towards the minefield area to begin the simulated mine-clearing "plowing" process. After the actual mine-clearing vehicle adjusts the firing direction and angle of the gun barrel according to the direction of the minefield, the soldier inside the vehicle only needs to select "Rocket Mine Clearing" on the display screen of the simulation terminal, input the number of rockets to be launched, firing direction and angle (automatically generated by data collection), and confirm "Launch" to complete the rocket mine-clearing operation.

[0045] After successful mine clearance, the mine-clearing simulation terminal's status indicator light in the cleared minefield area displays "Cleared Status." The specific launch and impact points of the rockets, as well as the clearance of the mines by the simulation terminal, are handled internally by the system and displayed on a 3D situational awareness computer. At this time, the display screen will pop up "Plowing" and "Rocket Mine Clearing" events, with event information including time, mine-clearing vehicle location, and number of mines cleared. When the rocket-powered mine-clearing and obstacle-breaching vehicle simulation terminal is in "No Rockets" status, the "Rocket Mine Clearing" option cannot be selected. (This training system should not have a "Destroyed" status for the mine-clearing and obstacle-breaching vehicle simulation terminal, as mines cannot destroy the vehicle.)

[0046] Secondly, a communication network base station needs to be constructed to connect various terminals. This can be achieved by building a 4G / 5G portable base station or a mobile 4G / 5G vehicle-mounted base station (with signal coverage sufficient for the training area). A high-precision positioning device is also needed to ensure the authenticity of the simulated training data and the high fidelity of the training process in the situation display. A BeiDou positioning base station could be considered.

[0047] In addition, three computers with different functions are required: one as a "guidance and intervention computer," focusing on the establishment of training units, network access of each simulation terminal, and information interaction with each simulation terminal (parameter distribution, command issuance, status display, action intervention, etc.); one as a "data distribution and processing computer," focusing on efficiently parsing and processing the large number of data packets exchanged between the entire system, and forwarding the data to the corresponding computers or terminal devices in real time, and encrypting and decrypting the data if necessary; and one as a "situation display computer" (two-dimensional / three-dimensional situation display), focusing on intuitively and in real time displaying the training process of ground-based explosive equipment. By receiving terminal information and action commands (location, status, events, weapon parameters, etc.) distributed by the "data distribution computer," and combining some algorithms and data (shell impact point algorithm, weapon parameters, etc.), it updates the physical status and action tasks of each piece of equipment in real time during the training process.

[0048] The above can be used to construct a complete virtual-real integrated ground explosive equipment simulation system. The components of the ground explosive equipment simulation training system are visible. Figure 6 Data interaction of the ground blasting equipment simulation training system is visible. Figure 7 Based on this, simulations of various ground blasting training projects can be implemented. The specific implementation method is as follows:

[0049] Once all types of terminals are connected to the network, relevant training programs for ground explosive ordnance equipment can be conducted. The implementation logic of each training program is detailed below.

[0050] 1) The process of engineers laying mines

[0051] a) Operating steps

[0052] Taking the placement of a landmine as an example, the trainee carries a landmine simulation terminal to a suitable burial location. The infrared transmitter of the mine deminer / layer is aligned with the infrared interface of the landmine simulation terminal. The "lay mine" option is selected on the display screen, and the selection is confirmed. The landmine emits a "beep" sound, and the status indicator light flashes red (activated), indicating successful placement. After the operation is complete, a pit is dug to bury the landmine simulation terminal, and it is covered with a shallow layer of soil to make it difficult to detect. For tripwire mines, it is recommended to bury them in grassy areas. One end of the tow rope is tied to the bolt of the landmine simulation terminal, and the other end is tied to a fixed object near the grass.

[0053] b) Implementation principle

[0054] like Figure 8When the trainee selects and confirms "mine laying" on the touchscreen, the mine-laying device sends its location information and mine-laying command information to the mine simulation terminal via infrared communication. Upon receiving this information, the mine simulation terminal stores the location information, activates the mine, and sends a successful mine-laying message back to the mine-laying device. Simultaneously, the mine-laying device sends the mine-laying event information to a data distribution and processing computer via 4G / 5G communication. The data distribution and processing computer then forwards the processed data to a situation display computer. The situation display computer then displays the individual soldier's mine-laying action at the corresponding location on the map / virtual scene based on the data packet (time, location, mine number, and activation status, etc.) and lays a mine.

[0055] The above is the implementation method for the individual soldier's mine-laying process.

[0056] 2) Mine clearance process by engineers

[0057] a) Operating steps

[0058] Taking the removal of a landmine as an example, trainees search the ground using a landmine detector. The detector employs electromagnetic induction technology; when it encounters a simulated landmine terminal with a high metal content, it emits an alarm, thus locating the buried simulated landmine. After safely excavating the simulated landmine, the infrared transmitter of the mine-clearing / laying device is aligned with the simulated landmine's infrared interface. The "mine clearance" option is selected on the display screen, and upon confirmation, the landmine emits a "beep" sound, and the status indicator light changes from red to flashing green (removed), indicating successful mine clearance. Simultaneously, the mine-clearing / laying device transmits the mine clearance event information to a data distribution and processing computer via 4G / 5G communication. The data distribution and processing computer forwards the processed data to a situation display computer. The situation display computer then displays the individual soldier's mine clearance action at the corresponding location on the map / virtual scene based on the data packet (time, location, landmine number, and clearance status, etc.), and removes the landmine with the corresponding number.

[0059] If a mine is accidentally triggered during mine clearance operations (e.g., the trigger of a pressure-activated mine is pressed to the point of activation, or the tether of a tripwire mine is pulled, causing the bolt to loosen), the mine simulation terminal will emit a "beep beep beep" sound, the status indicator light will change, and a Zigbee damage signal will be emitted. Upon receiving the signal, the mine clearing / laying device will emit an explosion sound indicating that a soldier has been damaged, and will announce "Damaged" via voice. The device's display screen will show the "death" status and damage event information. Simultaneously, the mine clearing / laying device will send the damage event information to a data distribution and processing computer via 4G / 5G communication. The data distribution and processing computer will then forward the processed data to a situation display computer. The situation display computer will then display the mine explosion, personnel death, and the destruction of the corresponding numbered mine at the corresponding location on the map / virtual scene based on the data packet (time, location, attacker / detonating mine status, and attacked / soldier status, etc.).

[0060] b) Implementation principle

[0061] like Figure 9 When the trainee selects and confirms "mine clearance" on the touchscreen, the mine clearance / laying device sends the mine clearance command information to the mine simulation terminal via infrared communication. Upon receiving the command, the mine simulation terminal completes the mine deactivation action and sends a successful mine clearance message back to the mine clearance / laying device. Simultaneously, the mine clearance / laying device sends the mine clearance event information to the data distribution and processing computer via 4G / 5G communication. The data distribution and processing computer forwards the processed data to the situation display computer. The situation display computer then displays the individual soldier's mine clearance action at the corresponding location on the map / virtual scene based on the data packet (time, location, mine number, and clearance status, etc.), showing the disappearance of the corresponding numbered mine.

[0062] The above is the implementation method of the individual mine clearance process.

[0063] 3) Directing and intervening in the computer-controlled mine-laying process

[0064] Since the mine-clearing process of the rocket-propelled mine-clearing vehicle relies on the "direction and intervention computer-controlled mine-clearing function", the implementation method of this process is described below.

[0065] The minefield controller can periodically scan nearby mine simulation terminals via LoRa communication, enabling information exchange and control with these terminals. Additionally, it can upload mine status information via 4G / 5G communication and receive control commands from the command and control computer. The command and control computer has a corresponding real-time status display and control interface for each simulation terminal; by operating the corresponding control interface of the minefield controller, control commands can be issued.

[0066] a) Operating steps

[0067] Taking the control of a single landmine as an example, following the mine-laying procedure in 1) above, after deploying multiple landmine simulation terminals in the selected area of ​​the site to construct a minefield, the minefield controller is activated to scan for and add landmines to the network. In the operation interface of the control computer, select "Minefield Controller" -> select "Landmine Number to Control" -> select "Remove," and issue a control command. The minefield controller receives and executes the control command, and the status indicator light of the corresponding landmine number changes from red to flashing green (removed).

[0068] b) Implementation principle

[0069] like Figure 10When the command and control computer issues a control command for landmines, the data packet is processed by the data distribution and processing computer and sent to the minefield controller via 4G / 5G communication. After receiving the data packet, the minefield controller will parse the data packet to obtain the control landmine information and issue a control command to the corresponding numbered landmine simulation terminal via LoRa communication. The corresponding landmine simulation terminal will then complete the clearance action upon receiving the command.

[0070] The above describes the method for directing and intervening in the computer-controlled mine-making process.

[0071] 4) Rocket-powered mine-clearing and obstacle-breaching vehicle plowing process

[0072] a) Operating steps

[0073] Following the mine-laying procedure described in 1) above, multiple mine-simulating terminals are deployed in the selected area to create a minefield. The mine-clearing vehicle's simulated terminals are powered on and connected to the network, then attached to the roof of the actual mine-clearing vehicle. The touchscreen display module is connected to the vehicle's interior via wired connection. The trainee selects "Plowing and Sweeping" on the display screen and confirms the selection. The actual mine-clearing vehicle is driven towards the laid minefield area. As it passes a minefield, the status indicator lights of the mine-simulating terminals in that area change from red to flashing green (indicating clearance). The situational awareness software simultaneously displays the mine-clearing and obstacle-clearing vehicle's plowing and sweeping process in real-time on the map / virtual scene.

[0074] b) Implementation principle

[0075] Because the rocket-powered mine-clearing vehicle simulation terminal has a positioning module and can upload status information in real time via 4G / 5G, the situation display computer can display the actual mine-clearing process of the vehicle in real time based on the received data. For example... Figure 11 When the terminal selects "Plowing," as the actual mine-clearing vehicle passes through a minefield area, the situation display computer calculates the mine numbers to be cleared based on the real-time location of the mine-clearing vehicle, the clearing radius parameters, and the location of the mine simulation terminal. Mine numbers near the rocket-powered mine-clearing vehicle in the map / virtual scene will be cleared. Simultaneously, the situation display computer sends the mine number information to the command and control computer via wired communication. The command and control computer then issues control commands for the corresponding mines according to process 3), and the actual mine simulation terminal in that area executes the clearance action.

[0076] The above describes the process of the rocket-propelled mine-clearing and obstacle-breaching vehicle's plowing and sweeping action.

[0077] 5) Rocket-powered mine-clearing and obstacle-breaking vehicle rocket sweeping process

[0078] The process is simulated using a combination of virtual and real methods. The launch of the rocket mine-clearing projectile can be simulated through the voice module of the rocket mine-clearing simulation terminal, while the flight, landing point, and explosion effect of the rocket are difficult to simulate realistically. Therefore, the process is mainly displayed through a situation display computer.

[0079] a) Operating steps

[0080] Following the mine-laying procedure described in 1) above, multiple mine-simulating terminals are deployed in the selected area to create a minefield. The rocket-propelled mine-clearing vehicle simulation terminal is powered on and connected to the network, then attached to the roof of the actual mine-clearing vehicle. The touchscreen display module is connected to the vehicle via wired connection, and the firing direction and angle acquisition module of the simulation terminal is installed on the actual mine-clearing vehicle's cannon barrel. The trainee, inside the actual vehicle, adjusts the firing direction of the mine-clearing vehicle's cannon to target the minefield area to be cleared. After adjustment, the trainee selects "Rocket Mine Clearing" -> "Fire Quantity" -> "Fire Direction, Angle" (automatically generated) -> "Fire" in the touchscreen display module of the simulation terminal. At this time, the rocket-propelled mine-clearing simulation terminal emits the sound effect of a mine-clearing projectile being launched, and the situation display computer can view the launch and impact effects. When a mine in the area is hit by a mine-clearing projectile in the situation display computer, the mine simulation terminal in the actual area will also be cleared.

[0081] b) Implementation principle

[0082] like Figure 12 When trainees select "launch rocket-propelled mine-clearing projectiles" in the mine-clearing vehicle simulation terminal, the situation display computer obtains the projectile's impact point based on weapon parameters (launch position, initial velocity, firing direction, firing angle, etc.) and internal algorithms. It then uses the projectile's damage performance parameters to calculate the damage area in the virtual scene / map, combining this with the mine's location information to determine whether to clear the mines in that area. Simultaneously, the situation display computer also receives the mine-clearing information and sends it to the command and control computer. The command and control computer then issues control commands to the corresponding mines according to the mine number information, following process 3), and the actual mine-clearing simulation terminal in that area executes the clearance action. The relevant algorithms can be seen in the following formula:

[0083] 1) Calculate the flight time of the projectile, see formula (1).

[0084]

[0085] Where v0 refers to the projectile's launch velocity, θ refers to the launch angle, g refers to the acceleration due to gravity, and t... fly This refers to the flight time of a projectile in the air.

[0086] 2) Calculate the impact point of the shell, see formula (2).

[0087]

[0088] Where D refers to the range of the shell, ψ refers to the direction of fire, and (x0, y0, z0) are the coordinates of the mine-clearing vehicle in the map / virtual scene. t x ih y hit , z hit ) refers to the coordinates of the shell's impact point on the map / virtual scene, and r refers to the error value set according to the type of shell fired;

[0089] 3) Since the mine-clearing effect of rockets is to open a straight path in the minefield, their damage range is similar to a rectangular area. The vertex of the damage area is shown in formula (3).

[0090]

[0091] Among them, (A) x A y A z (B) refers to the coordinates of the top-left vertex of the damaged area on the map / virtual scene. x B y B z ) refers to the coordinates of the lower right vertex of the damaged area in the map / virtual scene, h refers to the length of the damaged area set according to the shell type, and w refers to the width of the damaged area set according to the shell type.

[0092] 4) To determine whether a landmine is in the area, use the following formula (4):

[0093] (A x -P x (B) x -P x )+(A y -P y (B) y -P y ) <= 0 (4)

[0094] If the above formula is satisfied, then the landmine is determined to be located in the damaged area, where (P x P y P z This refers to the coordinates of the landmine in the map / virtual scene.

[0095] The above describes the process of implementing rocket-powered mine-clearing and obstacle-clearing vehicles.

[0096] This invention has been successfully applied to a live-fire combat simulation training system. This system can provide exercise scenarios for company-level live-fire confrontations and includes various types of weapon simulation terminal equipment, such as 80mm rocket launchers, 122mm howitzers, automatic rifles, and landmine simulation terminals. This live-fire confrontation system consists of multiple confrontation subsystems, with the landmine system being one component.

[0097] The ground-based explosive ordnance disposal system integrates multiple technologies such as BeiDou positioning, wireless communication, and multi-data channel interaction, effectively providing a battlefield training element for the entire live-fire combat simulation. Once the exercise begins, trainees can use the simulated terminal to complete relevant tasks in a hybrid virtual and real battlefield environment: laying minefields, sappers clearing mines, and mine-clearing vehicles clearing mines and breaching obstacles, achieving good training results. After the exercise, simply retrieve the simulated terminal, turn off the power, and recharge it.

[0098] The above is a brief description of the application of this patented method in actual projects. This patent provides a highly feasible and low-cost simulation training system for ground explosive equipment, which can effectively solve the problems of insufficient training, high cost, and high risk index in the field of ground explosives.

Claims

1. A virtual-real combined simulation training system for ground explosive devices, characterized in that, include: A landmine simulation terminal is used to simulate actual landmines and has functions of laying, triggering, and clearing them. The minefield controller simulation terminal periodically scans nearby mine simulation terminals, interacts with them for information collection and status control, uploads mine information to the data distribution and processing computer, and receives control commands from the guidance and intervention computer through the data distribution and processing computer to complete the elimination of the corresponding numbered mine simulation terminal. The mine-clearing / mine-laying device is used to simulate the actual mine-clearing / mine-laying actions of soldiers. It is carried by actual sappers and collects the soldiers' location information in real time. It interacts with the mine simulation terminal and sends the location information and mine-clearing / mine-laying command information to the mine simulation terminal. It also sends the mine-clearing / mine-laying event information to the data distribution and processing computer. It receives the signal emitted by the mine simulation terminal when it detonates, thereby determining whether a soldier has been injured and simulating the sound effect of an explosion when a soldier is injured by a mine. The rocket-propelled mine-clearing and obstacle-breaching vehicle simulation terminal, when installed on an actual mine-clearing vehicle, can select to perform plowing and rocket-propelled mine-clearing operations to simulate actual mine-clearing and obstacle-breaching vehicles and mine-clearing operations; it can collect real-time location information of the mine-clearing vehicle and the actual firing direction and angle information of the gun barrel. The command and control computer is used for network access of the above-mentioned simulated terminals, distribution of exercise parameters, issuance of control commands, and information interaction with each simulated terminal. The data distribution and processing computer receives, processes, and forwards data in real time to the corresponding command and control computers, situation display computers, and various simulation terminals. The situation display computer receives terminal information, action instructions, and event information distributed by the data distribution computer, and updates the status and action tasks of each simulated terminal in real time during training. It displays individual soldier / platoon / mine-laying actions, as well as the mine-clearing actions of the rocket-propelled mine-clearing vehicle simulated terminal, at corresponding locations on the map / virtual scene. If the rocket-propelled mine-clearing vehicle simulated terminal performs a sweeping operation, it calculates the cleared mine number based on the real-time location of the mine-clearing vehicle, the clearing radius parameters, and the location of the mine-clearing simulated terminal. Mine numbers near the rocket-propelled mine-clearing vehicle in the map / virtual scene will be cleared. If the rocket-propelled mine-clearing vehicle simulated terminal performs a rocket-propelled mine-clearing operation, it calculates the damaged area in the virtual scene / map based on the obtained shell impact points, and combines this with the mine location information to determine and clear the mines in that area. The situation display computer then sends the cleared mine number information to the directing intervention computer for processing, causing the corresponding numbered mine-clearing simulated terminal in the actual training scenario to be eliminated. When trainees select "launch rocket-propelled mine-clearing projectiles" on the rocket mine-clearing vehicle simulation terminal, the situation display computer uses the "damage radius" parameter to calculate the damage area in the virtual scene / map. The calculation process is as follows: Calculate the projectile's flight time: （1） in, Refers to the rate of fire of the projectile. Refers to the launch angle. This refers to gravitational acceleration. The flight time of a projectile in the air; Calculate the impact point of the shell （2） in, Refers to the range of the artillery shell. Indicates the direction of the shot. , , ) represents the coordinates of the minesweeper in the map / virtual scene. , , This refers to the coordinates of the shell's impact point on the map / virtual scene. This refers to the error value set according to the type of shell being fired; The damaged area is a rectangular region; calculate the vertex positions of the damaged area. （3） in,( , , This refers to the coordinates of the top-left vertex of the damaged area on the map / virtual scene. , , This refers to the coordinates of the bottom right vertex of the damaged area on the map / virtual scene. The length of the damage zone is determined according to the type of shell. The width of the damage zone is determined according to the type of shell. Determine if a landmine is in the damaged area: （4） If the above formula is satisfied, then the landmine is determined to be located in the damaged area, where, ( , , (This refers to the coordinates of the landmine in the map / virtual scene.) 2. The virtual-real combined ground explosive equipment simulation training system according to claim 1, characterized in that, The landmine simulation terminal mainly includes a Zigbee module, a Lora communication module, an infrared communication module, a status indicator light, and a buzzer. The Lora communication module is used for information exchange with the minefield controller; the infrared communication module is used for information exchange with the mine clearing / laying device; the status indicator light is used to display the mine status based on the flashing color; the Zigbee module is used to emit damage signals; and the buzzer is used to simulate the effects of mine activation, clearance, and detonation.

3. The virtual-real combined ground explosive equipment simulation training system according to claim 1, characterized in that, The minefield controller simulation terminal includes a Lora communication module, a communication module, a positioning module, and a display touch screen module. The Lora communication module is used for information interaction with the mine simulation terminal and to control the status of the corresponding mine simulation terminal. The communication module is used for network communication to upload mine information and receive control commands. The positioning module is used to collect the location information of the minefield controller. The display touch screen module is used to display the status information of the searched mine simulation terminals.

4. The virtual-real combined ground explosive equipment simulation training system according to claim 1, characterized in that, The mine-laying / disposal device includes an infrared communication module, a communication module, a positioning module, a Zigbee module, a touchscreen display and control module, and a voice module. The communication module is used for network access of the mine-laying / disposal device terminal, uploading individual soldier status information and receiving control commands in real time. The Zigbee module is used to receive the Zigbee signal emitted when a landmine detonates, thereby determining whether an individual soldier has been injured. The infrared communication module is used for information exchange with landmines during mine-laying / disposal operations, transmitting location information to landmines and controlling their status. The positioning module is used to collect the soldier's location information in real time. The touchscreen display and control module is used to complete the mine-laying / disposal operations via touch. The voice module is used to simulate the explosion sound effect of an individual soldier being injured by a landmine.

5. The virtual-real combined ground explosive equipment simulation training system according to claim 1, characterized in that, The rocket mine-clearing and obstacle-breaking vehicle simulation terminal includes a terminal host module, a communication module, a positioning module, a voice module, a Zigbee module, a display and control touch screen module, and a gun barrel firing direction and angle acquisition module. The communication module is used for network access and communication of the rocket mine-clearing and obstacle-breaking vehicle simulation terminal, uploading vehicle status information and receiving control commands in real time; the Zigbee module is used to receive the Zigbee signal emitted when a landmine is detonated. The positioning module is used to collect the real-time location information of the mine-clearing vehicle; The display and control touch screen module is connected to the terminal host on the roof of the vehicle and is placed inside the actual vehicle for soldiers to operate. It is used to display the status of the mine-clearing vehicle and event information, as well as to select the plowing and rocket mine-clearing operations to be performed; the gun barrel firing direction and angle acquisition module is used to collect the firing direction and angle information of the actual gun barrel; the voice module is used to simulate the sound effects of rocket mine-clearing projectile launch.

6. The virtual-real combined ground explosive equipment simulation training system according to claim 1, characterized in that, When the command and control computer issues a control command for landmines, the data packet is processed by the data distribution and processing computer and sent to the minefield controller via 4G / 5G communication. After receiving the data packet, the minefield controller will parse the data packet to obtain the control landmine information and issue a control command to the corresponding numbered landmine simulation terminal via LoRa communication. The corresponding landmine simulation terminal will then complete the clearance action upon receiving the command.

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