Adaptive networking manned / unmanned ground vehicle common simulation terminal

Abstract

The application discloses a manned / unmanned ground vehicle universal simulation terminal with self-adaptive networking, which comprises a control host, a vehicle-mounted data terminal, a curved laser receiving probe group, a direction-finding and angle-measuring device and a direct-aiming transmitter; the curved laser receiving probe is used for receiving coded laser of a strike-side simulation artillery fired from all directions and transmitting strike data to the control host for damage calculation; the direction-finding and angle-measuring device is used for collecting data of a fire direction and a fire angle of the artillery; the direct-aiming transmitter is used for simulating a direct-aiming weapon to emit coded laser; the control host is connected with an actual fire control device through a CAN fire control bus and collects data such as the fire direction and the fire angle, and simulates and calculates data such as a strike distance, a projectile flight time and a single drop dispersion without launching actual ammunition. The application can provide reliable guarantee for accurately evaluating simulation battlefield damage efficiency of a combat test system.

Description

Technical Field

[0001] This invention relates to the field of combat testing, specifically to an adaptive networking universal simulation terminal for manned / unmanned ground vehicles. Background Technology

[0002] In traditional combat testing, vehicle simulation terminals lack versatility, and exploration of unmanned vehicle simulation terminals and "manned / unmanned convertible" vehicle simulation terminals is relatively limited. When multiple simulation terminals are networked and interconnected, the signal strength remains constant, making it difficult to adapt to factors such as communication distance and interference, which to some extent affects the stability of the connection between simulation terminals. Currently, there is no engineering method to flexibly adjust the network signal strength according to real-time environmental changes. Therefore, there is a need for an adaptive networked universal vehicle simulation terminal based on manned / unmanned ground vehicles, capable of flexibly selecting modular universal components according to different actual vehicles, and adaptively determining the Zigbee signal strength according to the environment to maintain stable connection. Summary of the Invention

[0003] The purpose of this invention is to provide a universal simulation terminal for manned / unmanned ground vehicles with adaptive networking, so as to solve the problems of different simulation terminals needing to be designed for different vehicles and the unstable networking connection between simulation terminals, and to provide a reliable guarantee for the accurate evaluation of battlefield damage effectiveness of combat test systems.

[0004] The technical solution to achieve the purpose of this invention is as follows:

[0005] An adaptive networking universal simulation terminal for manned / unmanned ground vehicles includes a control host, a vehicle-mounted data terminal, a curved laser receiving probe group, a direction and angle measuring device, and a direct-fire transmitter;

[0006] The curved laser receiving probe is used to receive the coded lasers from the simulated artillery of the attacking side that are shot from all directions, and transmits the attack data to the control host for damage calculation.

[0007] The direction and angle measuring device is used to collect the firing direction and angle data of the artillery, and supports automatic collection and manual input of firing data.

[0008] The direct-fire transmitter is used to simulate the firing of coded lasers by direct-fire weapons;

[0009] The control host, based on the collected artillery firing direction and angle data, simulates automatic ballistic calculation without firing actual ammunition; it interacts with the curved laser receiving probe group, the direct-fire transmitter, and the fortification building simulation terminal and individual soldier equipment simulation terminal to receive the coded laser from the direct-fire transmitter and complete the decoding; and it simulates the effects of artillery firing and being hit.

[0010] The vehicle-mounted data terminal is connected to the control host and interacts with the fortification simulation terminal, individual soldier equipment simulation terminal, individual soldier weapon simulation terminal, explosive simulation terminal, and gas mask simulation terminal. When rescue is needed, it interacts with the medical rescue simulation terminal. For manned vehicles, the terminal is operated by the vehicle occupant and connected to the control host, enabling information interaction between the control host and the integrated command and control system, data processing system, and information display system. For unmanned vehicles, the control personnel can view the vehicle's attitude angle, reconnaissance video, location information, strike data, and other relevant information uploaded to the server by the vehicle-mounted data terminal through the command and control terminal. For vehicles equipped with drones, the vehicle-mounted data terminal can view the drone reconnaissance video and transmit it back to the server, where the transmitted video can be viewed on the command and control terminal and the information display system.

[0011] The significant advantages of this invention compared to existing technologies are:

[0012] (1) Adopting a modular architecture and universal design, vehicles with artillery strike capabilities can be equipped with direction and angle measuring devices; for unmanned vehicles, the control personnel can view the vehicle attitude angle, reconnaissance video, location information, strike data and other related information uploaded to the server by the vehicle data terminal through the command and control terminal; for vehicles equipped with UAVs, the vehicle data terminal can use 5.8GHz to view UAV reconnaissance video and transmit it back to the server, and view the transmitted video on the command and control terminal and information display system.

[0013] (2) It can not only adapt to traditional manned and unmanned vehicles, but also to new “manned / unmanned convertible” vehicles. Under normal circumstances, these new “manned / unmanned convertible” vehicles are driven by the crew and can use the “manned vehicle” mode of the general simulation terminal. In high-risk combat situations, the crew can get off the vehicle and remotely control the vehicle through the actual control terminal to carry out combat operations such as intelligence reconnaissance and fire strikes, and can use the “unmanned vehicle” mode of the general simulation terminal.

[0014] (3) The vehicle-mounted data terminal is based on the ZigBee self-organizing network interconnection and nesting mechanism. It adopts the learning algorithm (Sarsa algorithm) for online optimization and adjusts the ZigBee signal strength according to the communication delay and network nodes, so that it can adaptively adjust under different terrains and interference to ensure stable and reliable communication. It supports multiple manned / unmanned simulation terminals to exchange information through the self-organizing network, which improves the scalability of the combat test confrontation system.

[0015] (4) It can automatically associate with the individual soldier equipment simulation terminal on the vehicle, and view the status and information such as personnel identity, weapon type, ammunition, casualties, communication, and positioning through the vehicle-mounted data terminal, and simulate the collateral damage effect on the personnel and weapons inside the vehicle after it is hit; it can automatically associate with the fortification building simulation terminal, obtain indoor positioning through the indoor positioning module, and upload vehicle information, weapon type, ammunition, casualties, communication, and positioning status and information to the fortification building simulation terminal.

[0016] (5) The system can select different numbers of curved laser receiver probes according to the different shapes and sizes of the vehicles, and synchronize the configuration parameters to the control host via ZigBee through software-defined networking. For vehicles such as infantry fighting vehicles and tanks, a typical configuration of 3 probes at the front and rear and 2 probes on the left and right can be adopted.

[0017] (6) The curved laser receiver probe housing adopts a light-focusing curved structure and light-transmitting material to converge the coded lasers incident from all directions to the center position. Only one laser receiver module is needed to receive coded lasers incident from all directions. Attached Figure Description

[0018] Figure 1 This is a structural framework diagram of the present invention.

[0019] Figure 2 This is a schematic diagram of the control host of the present invention.

[0020] Figure 3 This is a schematic diagram of the vehicle-mounted data terminal of the present invention.

[0021] Figure 4 The system networking process is described.

[0022] Figure 5 The process of a child node joining the network is described.

[0023] Figure 6 The workflow of adaptive adjustment of network signal strength is described. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] The implementation of the present invention will be described in detail below with reference to specific embodiments.

[0026] This embodiment of a universal simulation terminal for manned / unmanned ground vehicles with adaptive networking includes a control host, a vehicle-mounted data terminal, a curved laser receiving probe group, a direction and angle measuring device, and a direct-fire transmitter.

[0027] The control host is the information processing center of the general-purpose analog terminal, responsible for data storage, laser reception, damage processing and other functions. It is the central processing component of the entire system and consists of a tower laser receiving probe, a hit effect simulation device, a main control board and other components. It can connect to the actual fire control device's direction and angle measuring equipment through the CAN fire control bus to collect data such as firing direction and angle. Without firing actual ammunition, it can simulate and calculate data such as strike distance, projectile flight time and single-shot dispersion.

[0028] The tower-type laser receiver probe group integrates eight laser receiver probes on different directional surfaces to receive coded lasers and complete decoding.

[0029] The hit effect simulation device integrates an LED module that can simulate the light effects of artillery firing and being hit by artillery through different combinations of light colors; it also integrates a speaker module that can simulate the different sound effects of artillery firing and being hit; and it integrates a smoke emission device that can emit smoke of different colors to simulate the smoke effects of artillery firing and being hit.

[0030] The main control board integrates a Beidou positioning module (integrated RTK module), ZigBee module 1, infrared communication module, and indoor positioning module to realize short-range wireless communication function; it is used to control the information interaction between the host and the curved laser receiving probe group, the direct-fire transmitter, and external terminals such as the fortification building simulation terminal and the individual soldier equipment simulation terminal.

[0031] The vehicle-mounted data terminal connects to the control host via CAN-to-USB and integrates a 5.8GHz image transmission module, a ZigBee module 2, a Bluetooth module, and a 4G / 5G communication module. It is equipped with terminal device management software developed based on the Android system, supporting system and software upgrades via a server. The ZigBee module 2 is used for information exchange and interconnection between the general-purpose simulation terminal and other simulation terminals: fortification building simulation terminals, individual soldier equipment simulation terminals, individual soldier weapon simulation terminals, explosives simulation terminals, and gas mask simulation terminals. The 4G / 5G communication module is used for information exchange between the general-purpose simulation terminal and the medical rescue simulation terminal when rescue is needed.

[0032] For manned vehicles, the vehicle-mounted data terminal is held and operated by the vehicle occupants. It connects to the control host via CAN-to-USB, enabling information interaction between the control host and the integrated command and control system, data processing system, and information display system. For unmanned vehicles, the control personnel can view the vehicle's attitude angle, reconnaissance video, location information, strike data, and other relevant information uploaded to the server by the vehicle-mounted data terminal through the command and control terminal. For vehicles equipped with drones, the vehicle-mounted data terminal can use 5.8GHz to view drone reconnaissance video and transmit it back to the server, where the transmitted video can be viewed on the command and control terminal and the information display system.

[0033] The vehicle-mounted data terminal is based on the ZigBee self-organizing network mechanism and uses a reinforcement learning algorithm (Sarsa algorithm) for online optimization. It adjusts the ZigBee signal strength according to communication latency and network nodes, enabling adaptive adjustment under different environments and interference to ensure stable and reliable communication. When a soldier equipment simulation terminal enters the vehicle network range, it can automatically connect to the vehicle via ZigBee. The vehicle-mounted data terminal can then view personnel identity, weapon type, ammunition, casualties, communication, positioning, power supply, and other status and information, simulating the damage effects on personnel and weapons inside the vehicle after it is attacked (also known as collateral damage technology). When a general-purpose simulation terminal enters the network range of a fortified building simulation terminal, it can automatically connect to the fortified building simulation terminal via ZigBee. It can obtain indoor positioning through the indoor positioning module and upload vehicle information, weapon type, ammunition, casualties, communication, positioning, power supply, and other status and information to the fortified building simulation terminal.

[0034] The difference between the ZigBee module 2 integrated in the vehicle-mounted data terminal and the ZigBee module 1 integrated in the main control board is that: ZigBee module 2 is used to associate with the fortification building simulation terminal, individual soldier equipment simulation terminal, individual soldier carrying equipment simulation terminal, explosive simulation terminal, and gas mask simulation terminal; while ZigBee module 1 is used to transmit damage information to the fortification building simulation terminal, individual soldier equipment simulation terminal, and other general simulation terminals after the general simulation terminal has been attacked and damaged, so as to realize the technology of collateral damage.

[0035] The curved laser receiver probe group consists of several curved laser receiver probes. The number of curved laser receiver probes can be selected according to different vehicle requirements and size differences. Through custom networking, the configuration parameters are synchronized to the control host via ZigBee. The probes are fixed to the corresponding positions on the vehicle using a combination of magnetic adsorption and strap binding. For vehicles such as infantry fighting vehicles and tanks, a typical configuration of 3 probes each at the front and rear and 2 probes each on the left and right is used.

[0036] The curved laser receiver probe housing adopts a light-focusing curved structure and light-transmitting material to converge the coded lasers incident from all directions to the center position. Only one laser receiver module is needed to receive coded lasers incident from all directions. It communicates with the control host via ZigBee to receive the lasers of the simulated artillery of the attacking party and transmits the attack data to the control host for damage calculation.

[0037] The direction and angle measuring device is divided into a main direction and angle measuring device and a secondary direction and angle measuring device. It is connected to the control host via an RS232 serial port and is fixed to the front and rear ends of the gun barrel using a combination of straps and clamps. It can automatically collect the firing direction and angle data of the gun through differential calculation. It supports automatic collection and manual input of firing parameters such as ammunition and propellant temperature. The control host can automatically calculate the trajectory according to the type of gun and ammunition.

[0038] The direct-fire transmitter is connected to the control host via ZigBee and is suitable for simulating the firing of coded lasers from direct-fire weapons. The firing effect is simulated by the flashing of its integrated high-intensity indicator light.

[0039] The following section details the implementation of online optimization of adaptive networking between simulated terminals based on the reinforcement learning algorithm (Sarsa algorithm) through three main components:

[0040] (1) Zigbee hardware module

[0041] The Zigbee hardware module is integrated into the Android data terminal for low-power wireless communication.

[0042] S1: In the operational testing system, the carrier node is set as the coordinator, such as a vehicle or battlefield fortification; the individual soldier node is set as the terminal node.

[0043] S2: The coordinator is responsible for establishing the ZigBee network. When a terminal node approaches the coordinator, it sends a network access request. The coordinator decides whether to allow the terminal node to join the network based on the network resource situation.

[0044] S3: In network configuration, coordinator nodes and terminal nodes are interconnected and nested to achieve interconnection and interoperability of battlefield information. Higher-level nodes can promptly transmit the battlefield actions they receive to lower-level nodes.

[0045] (2) Reinforcement Learning Online Learning Module

[0046] The Sarsa algorithm is used to correct Zigbee signal strength online. Sarsa (state-action-reward-state'-action') is a temporal difference method for online learning in reinforcement learning. Without prior knowledge of the external environment, it learns from the agent's interaction with it. The agent is trained using an ε-greedy policy, which allows it to randomly select actions with a certain probability to expand the exploration space and avoid getting trapped in local optima. The Sarsa algorithm is a reinforcement learning algorithm based on Q-tables, where the table represents the state space s1...s... i For example, let the action space be a1...a i The table stores the value Q, representing the state S at the current time t. t Execute action A at time t The total reward obtained is then used to update the Q-value through the interaction between the agent and the environment. The update formula is as follows:

[0047] Q(S t A t )=Q(S t A t )+α[R t+1 +γQ(S t+1 A t+1 )-Q(S t A t )]

[0048] In the formula, R t+1 Let α be the reward after the agent performs action A at the next time step t+1, where α represents the learning rate of the agent and takes a value between 0 and 1; and γ is the discount rate and takes a value between 0 and 1.

[0049] The Sarsa algorithm employs an on-policy online iterative strategy, meaning it performs the action first and then updates the Q-value. Compared to offline learning, online learning algorithms are more conservative, resulting in safer optimized parameters.

[0050] S1: Set the allowable communication delay Δt between terminals for the initial training data. acc =30ms, Zigbee signal strength P=5dBm;

[0051] S2: Maximum actual communication delay (maxΔt) among all simulated terminals in the network. real It can reflect the communication effect of the network, max△t real The smaller the value, the better the communication effect; max△t real The larger the value, the worse the communication effect. Therefore, according to max△t... real The communication state set can be divided into 6 subsets S based on the numerical value. iEach subset represents a different communication state of the system, S i The values ​​are shown in the table below:

[0052] Table 1 State Set Division

[0053] State set S △t <![CDATA[S1]]> [0,20) <![CDATA[S2]]> [20,40) <![CDATA[S3]]> [40,60) <![CDATA[S4]]> [60,80) <![CDATA[S5]]> [80,100) <![CDATA[S6]]> [100,+∞)

[0054] S3: The Zigbee signal strength needs to be set to different values ​​P according to environmental changes, corresponding to action A that needs to be optimized in the Sarsa algorithm. The interval of action A can be divided into 5 action sets A based on the Zigbee signal strength. i A i The values ​​are shown in the table below:

[0055] Table 2 State Set Division

[0056]

[0057]

[0058] S4: Select action A according to the ε-greedy strategy, that is, take action A with a probability of ε according to the action with the maximum Q value in the current state of the Q table to ensure the maximum global benefit; take action randomly with a probability of 1-ε to avoid getting trapped in local optima.

[0059] S5: After selecting an action, calculate the reward R at the current moment. t And update the Q-value table according to the update formula. Reward R t Set to:

[0060] R t =(max△t) real ) t -(max△t real ) t+1

[0061] When the agent takes action A, if the maximum actual communication delay (maxΔt) of each simulated terminal in the network at the current time t is... real ) t If the actual communication delay decreases compared to the previous state, then R t Positive rewards are given when the reward is positive, and negative rewards are given when the reward is negative; the reward setting drives the agent's choice to maximize Δt. real The action of decreasing.

[0062] S5: Repeat steps 1, 2, 3, and 4.

[0063] (3) Zigbee adaptive adjustment module

[0064] S1: Set the allowable communication delay Δt between terminals for the initial training data. acc=30ms, Zigbee signal strength P=5dBm;

[0065] S2: After detecting that the device has sent information, start the timer;

[0066] S3: In △t acc Within, if the node receives information responses m from all simulated terminals res This indicates that the information was successfully sent and the communication status is good; calculate the time difference between the information transmission and the latest response, denoted as maxΔt. real (representing the maximum delay of this communication), and let △t acc =max△t real ;

[0067] S4: If no information response is received from all simulated terminals... res Then increase Δt at 5ms intervals. acc And repeat the message until message responses are received from all simulated terminals. res ;

[0068] S5: with max△t real The optimal Zigbee signal strength is selected using the Q-value table maintained in the reinforcement learning online learning module described in (2) as the system state variable.

[0069] S6: Repeat steps 2, 3, 4, and 5.

[0070] The ballistic calculation, calculation of strike distance, projectile flight time, single-item dispersion, damage calculation, and laser decoding process described above are conventional technical means in this field and are not improvements of this invention.

[0071] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A universal simulation terminal for manned / unmanned ground vehicles with adaptive networking, characterized in that, Includes a control host, vehicle-mounted data terminal, curved surface laser receiving probe group, direction and angle measuring equipment, and direct-fire transmitter; The curved laser receiving probe group is used to receive the coded lasers of the simulated artillery fired from all sides and transmit the impact data to the control host for damage calculation. The direction and angle measuring device is used to collect the firing direction and angle data of the artillery, and supports automatic collection and manual input of firing data. The direct-fire transmitter is used to simulate the firing of coded lasers by direct-fire weapons; The control host, based on the collected artillery firing direction and angle data, simulates automatic ballistic calculation without firing actual ammunition; it also interacts with the curved laser receiving probe group, the direct-fire transmitter, the fortification building simulation terminal, and the individual soldier equipment simulation terminal to receive the coded laser from the direct-fire transmitter and complete the decoding. Simulates the effects of artillery firing and being hit; The vehicle-mounted data terminal is connected to the control host and interacts with the fortification simulation terminal, individual soldier equipment simulation terminal, individual soldier weapon simulation terminal, explosive simulation terminal, and gas mask simulation terminal. When rescue is needed, it interacts with the medical rescue simulation terminal. For manned vehicles, the terminal is operated by the vehicle occupant and connected to the control host, enabling information interaction between the control host and the integrated command and control system, data processing system, and information display system. For unmanned vehicles, the control personnel can view the vehicle's attitude angle, reconnaissance video, location information, and combat data information uploaded to the server by the vehicle-mounted data terminal through the command and control terminal. For vehicles equipped with drones, the vehicle-mounted data terminal can view the drone reconnaissance video and transmit it back to the server, where the transmitted video can be viewed on the command and control terminal and the information display system. The vehicle-mounted data terminal is based on the ZigBee self-organizing network mechanism and uses reinforcement learning algorithms for online learning. It adjusts the ZigBee signal strength according to communication latency and network nodes. When a soldier equipment simulation terminal enters the vehicle network range, it automatically associates with the soldier equipment simulation terminal via ZigBee and enters the vehicle. The vehicle-mounted data terminal can then view personnel identity, weapon type, ammunition, casualties, communication, positioning, power supply status and information, simulating the lethal effects on personnel and weapons inside the vehicle after it is attacked. When a general simulation terminal enters the network range of a fortified building simulation terminal, it automatically associates with the fortified building simulation terminal via ZigBee, obtains indoor positioning, and uploads vehicle information, weapon type, ammunition, casualties, communication, positioning, and power supply status to the fortified building simulation terminal. The ZigBee self-organizing network mechanism employs reinforcement learning algorithms to optimize the network signal strength between simulated terminals online, specifically including: The bearer node is set as the coordinator, and the individual soldier node is set as the terminal node. The coordinator is responsible for establishing the ZigBee network. When the terminal node approaches the coordinator, it sends a network access request. The coordinator decides whether to allow the terminal node to join the network based on the network resource situation. When the network is set up, the coordinator node and the terminal node are interconnected and nested to realize the interconnection and interoperability of battlefield information. The upper-level node transmits the battlefield behavior received to the lower-level node. The Sarsa algorithm is used to correct the ZigBee signal strength online, setting the initial ZigBee signal strength and the system's allowable communication delay Δt. acc The actual maximum communication delay of the system is max△t. real Divide into multiple state sets S from smallest to largest i Set different values ​​P for the Zigbee signal strength, corresponding to the action A that needs to be optimized in the Sarsa algorithm; divide the interval of action A into multiple action sets according to the magnitude of the Zigbee signal strength; select action A according to the ε-greedy strategy, that is, take action A with the largest Q value in the current state of the Q table with a probability of ε to ensure the maximum global benefit; take random action with a probability of 1-ε to avoid getting trapped in local optima. After selecting an action, calculate the reward R at the current moment. t And update the Q-value table according to the update formula; reward R t Set to: R t = (max△t real ) t - (max△t real ) t+1 If the maximum actual communication delay (maxΔt) is among the simulated terminals in the network at the current time t... real ) t If the actual communication delay decreases compared to the previous state, then R t A positive reward is given if the opposite is true, and a negative reward is given if the opposite is true. Set the initial ZigBee signal strength and the system's allowable communication delay Δt. acc Information m was detected from the terminal device. send Then, start the timer; at △t acc If the node receives the message response m res This indicates that the information was successfully sent and the communication status is good; reduce Δt acc Let △t acc= max△t real And calculate the actual communication delay; if no response is received, m res If the communication status is poor, then the time interval t is increased. acc And repeatedly send information m send Until a message response m is received res .

2. The adaptive networking universal simulation terminal for manned / unmanned ground vehicles according to claim 1, characterized in that, The control host includes a tower-type laser receiving probe, a hit effect simulation device, and a main control board; The tower-type laser receiver probe is used to receive the coded laser from the direct-fire transmitter and to complete the decoding. The hit effect simulation device integrates an LED module, a speaker module, and a smoke emitter; the LED module simulates the light effects of artillery firing and being hit by artillery through different combinations of light colors; the speaker module is used to simulate the different sound effects of artillery firing and being hit; and the integrated smoke emitter is used to emit smoke of different colors to simulate the smoke effects of artillery firing and being hit. The main control board is used to control the information interaction between the host computer and the curved laser receiving probe group, the direct-fire transmitter, the fortification building simulation terminal, and the individual soldier equipment simulation terminal.

3. The adaptive networking universal simulation terminal for manned / unmanned ground vehicles according to claim 2, characterized in that, The main control board integrates a Beidou positioning module, a ZigBee module 1, an infrared communication module, and an indoor positioning module.

4. The adaptive networking universal simulation terminal for manned / unmanned ground vehicles according to claim 3, characterized in that, ZigBee module 1 is used to transmit damage information to fortification building simulation terminals, individual soldier equipment simulation terminals, and other general-purpose simulation terminals after the general-purpose simulation terminal has been attacked and damaged.

5. The adaptive networking universal simulation terminal for manned / unmanned ground vehicles according to claim 1, characterized in that, The vehicle-mounted data terminal connects to the control host via CAN-to-USB and integrates a 5.8GHz image transmission module, a ZigBee module 2, a Bluetooth module, and a 4G / 5G communication module.

6. The adaptive networking universal simulation terminal for manned / unmanned ground vehicles according to claim 5, characterized in that, ZigBee module 2 is used to associate with fortification building simulation terminals, individual soldier equipment simulation terminals, individual soldier carrying equipment simulation terminals, explosive simulation terminals, and gas mask simulation terminals.

7. The adaptive networking universal simulation terminal for manned / unmanned ground vehicles according to claim 1, characterized in that, The outer shell of the curved laser receiver probe group adopts a light-focusing curved structure and light-transmitting material to converge the coded lasers incident from all directions to the center position. It communicates with the control host via ZigBee to receive the lasers of the simulated artillery of the attacking party and transmit the attack data to the control host.

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