An embedded over-the-horizon anti-armor analog terminal

Abstract

The application discloses an embedded over-the-horizon anti-armor simulation terminal, which comprises a visual display and control device, a direction-finding and angle-measuring device, a laser receiving device and an effect simulation device.The visual display and control device is used for simulating a video of a camera on a shell to realize flight control of the simulated shell; the direction-finding and angle-measuring device is used for obtaining the position, orientation and inclination angle of the shell; the laser receiving device is used for receiving laser information to simulate the situation that the equipment is hit; the effect simulation device is used for generating sound, light and smoke effects when the terminal is launched or damaged; the main control machine is used for data interaction with the visual display and control device, the direction-finding and angle-measuring device, a data acquisition terminal, the laser receiving device and the effect simulation device, and provides a positioning function; the data acquisition terminal is used for data interaction with the main control machine, collecting data of striking events, hitting events, position states, damage states and remaining shell quantity of the embedded over-the-horizon anti-armor simulation terminal, and realizing display, storage and query of the data.The application realizes simulation of over-the-horizon striking operation and data acquisition in a field environment.

Description

Technical Field

[0001] This invention belongs to the field of training equipment and combat testing, and in particular to an embedded beyond-visual-range anti-armor simulation terminal. Background Technology

[0002] Currently, live-fire combat training and operational testing primarily rely on indoor simulators and outdoor simulation terminals. Indoor simulators, designed to scale 1:1 with actual equipment, are expensive and, due to their indoor location and high dependence on terrain and equipment models for realism, cannot replicate the effects of training and testing in a real environment. Outdoor simulation terminals, on the other hand, operate outdoors with actual equipment, often mounted on top of it. However, the complex structure and cumbersome procedures of actual equipment necessitate simplified operational procedures to meet the needs of tactical training under specific conditions. With the increasing depth of live-fire combat training and the need for operational testing with equipment, existing simulation terminals can no longer meet the requirements for full-process operation and operational realism. Therefore, there is a need for an embedded beyond-visual-range anti-armor simulation terminal that closely approximates actual equipment operation, offers more reliable operational procedures, and collects more realistic data. This terminal should have a high degree of integration with actual equipment, meet the requirements for full-process operation, and be cost-effective. Summary of the Invention

[0003] The purpose of this invention is to provide an embedded beyond-visual-range anti-armor simulation terminal that more closely resembles actual operation, enabling simulated beyond-visual-range strike operations in the field environment while keeping costs under control.

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

[0005] An embedded beyond-visual-range anti-armor simulation terminal includes a visual display and control device, a data acquisition terminal, a main controller, a direction and angle measuring device, a laser receiving device, and an effect simulation device.

[0006] The visual display and control device is used to receive actual battlefield situation information, load a pre-made 3D map, and combine it with the received battlefield situation information to dynamically generate target information on the 3D map to form a virtual battlefield situation; combined with the firing direction, firing angle, and ammunition type, it simulates the flight effect of the simulated missile, controls the flight of the simulated missile in the 3D scene, and sends the damage results to the main control unit.

[0007] The direction and angle measuring device is used to obtain the position, orientation and tilt angle of the projectile, and sends the obtained direction and angle measuring data to the main control computer;

[0008] The laser receiving devices are distributed around and on the top of the vehicle body to receive laser information and simulate the situation of the equipment being hit.

[0009] The effect simulation device is used to simulate the sound, light, and smoke effects generated when the embedded beyond-visual-range anti-armor simulation terminal is launched or destroyed.

[0010] The main control unit is used to acquire real-time fire control data of anti-armor weapons, interact with the background guidance and control system in real time, acquire overall situation information, and transmit it to the visual display and control device, and feed back the simulated missile to the background guidance and control system; the main control unit interacts with the visual display and control device, the direction and angle measuring device, the data acquisition terminal, the laser receiving device, and the effect simulation device, and provides positioning function;

[0011] The data acquisition terminal interacts with the main control computer to collect data on the embedded beyond-visual-range anti-armor simulation terminal's strike events, hit events, position status, damage status, and remaining ammunition quantity, and to display, store, and query the data.

[0012] The significant advantages of this invention compared to existing technologies are:

[0013] (1) By accessing real equipment data, it is possible to realize the full-process simulation operation in the field real equipment combat environment, and the function is more comprehensive; by integrating real equipment data, the effect is more realistic; by interacting with the background battlefield situation, the battlefield situation can be fully displayed, and the missile camera scene is simulated by using virtual scene method, so that the shooter can adjust the flight direction in real time, effectively improving the training authenticity and the authenticity of data collection.

[0014] (2) By fixing the adaptive data acquisition device, the length of the ammunition box can be disregarded while ensuring the accuracy of the acquired data. This makes it more applicable and suitable for use with different equipment of the same type.

[0015] (3) The integrated display and joystick are fixed to the bracket, and the bracket is fixed to the gunner's control panel by telescopic straps to ensure the stability of the control mechanism during equipment movement and the rapid deployment during use. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the component connections and data interface interaction of the present invention;

[0017] Figure 2 This is a schematic diagram showing the composition and connection of the visual display and control device of the present invention;

[0018] Figure 3 This is a schematic diagram of the execution flow of the visual display and control device of the present invention;

[0019] Figure 4 This is a schematic diagram showing the composition and connection of the data acquisition terminal of the present invention;

[0020] Figure 5 This is a schematic diagram of the data acquisition terminal execution process of the present invention;

[0021] Figure 6 This is a schematic diagram showing the composition and connection of the main control unit of the present invention;

[0022] Figure 7 This is a schematic diagram of the main control unit task processing strategy of the present invention;

[0023] Figure 8 This is a schematic diagram illustrating the connection and information interaction of the main control unit in this invention;

[0024] Figure 9 This is a schematic diagram showing the composition and connection of the direction and angle measuring device of the present invention;

[0025] Figure 10 This is a schematic diagram showing the composition and connection of the laser receiving device of the present invention;

[0026] Figure 11 This is a schematic diagram of the execution process of the laser receiving device of the present invention;

[0027] Figure 12 This is a schematic diagram showing the composition and connection of the effect simulation device of the present invention;

[0028] Figure 13 This is a schematic diagram of the execution flow of the effect simulation device of the present invention. Detailed Implementation

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

[0030] As a preferred embodiment of the embedded beyond-line-of-sight anti-armor simulation terminal of the present invention, as shown in the appendix... Figure 1 As shown, it consists of a visual display and control device, a main control unit, a direction and angle measuring device, a data acquisition terminal, a laser receiving device, and an effect simulation device.

[0031] The visual display and control device is used to simulate video from the missile's onboard camera and to control the flight of the simulated missile. The device consists of a bracket, a joystick, a display, and a computer, and is powered by an external 220V power supply. The display and joystick are integrated onto the bracket with screws, and the bracket is secured to the actual equipment's mounting pole with adjustable straps to ensure stability and prevent wobbling during the actual equipment's movement. The joystick connects to the computer via a USB or serial port and transmits control data to the computer; the computer and display connect via a DB or HDMI interface, with the computer displaying the visual effects on the display. Simultaneously, the computer connects to the main control unit via a serial port for data exchange.

[0032] The monitor is used to display the 3D virtual scene, and the joystick is used to control the simulated projectiles in the 3D scene. The monitor and joystick are integrated onto a bracket with screws. The bracket is fixed to the gunner's control console of the actual vehicle with adjustable straps to ensure that the bracket is stable and does not shake during the actual vehicle's movement. The visual display and control device's visual computer is equipped with a visual simulation platform for calculating and rendering the 3D virtual scene. It is integrated and reinforced with a reinforced shell and fixed to the side space of the gunner's seat with strong magnets and straps. The visual display and control device interacts with the main control computer via a serial cable, which is connected along the vehicle body through a window. To meet the needs of various power supply methods in the field environment, a DC power inverter method is used in the power supply circuit, which can power the visual computer and monitor through various methods such as vehicle DC power supply, 220V AC power (mains power, UPS or generator power), etc. The joystick is powered by connecting to the visual computer via USB.

[0033] The monitor, visual computer, and control mechanism are secured using an integrated and embedded mounting method. The monitor is housed in a metal casing to prevent damage during transport and installation. It and the control mechanism are each fixed to a metal bracket, secured to the shooter's console via a top-mounted latch and a rear ratchet strap. The latch is bolted to the shooter's seat; the operator can adjust the latch's tightness by turning a wing nut to adjust the bracket's height. Once a suitable height is achieved, the wing nut is tightened to restrict the bracket's vertical and horizontal movement. A ratchet strap is installed on one side of the bracket, with one movable end and the other fixed end. A hook is fixed to the movable end, allowing it to bypass the front seat and connect to the other side of the bracket. The ratchet mechanism on the fixed end tightens the strap to restrict the bracket's forward and backward movement. The visual computer is secured to a reinforced housing using several clamps. A ratchet strap is installed on one side of the reinforced housing, and the entire visual computer is secured to the shooter's console via the ratchet strap.

[0034] The data acquisition terminal interacts with the main control unit via a serial cable, which runs along the vehicle body through a window and into the vehicle interior. The main unit collects, displays, stores, and queries data such as impact events, hit events, position status, damage status, and remaining ammunition from the embedded beyond-visual-range anti-armor simulation terminal. It is operated handheld during use and secured to the commander's seat with straps when not in use. The data acquisition terminal is powered by its integrated rechargeable battery. When the anti-armor simulation terminal simulates a missile attack, an impact event is generated; when the anti-armor simulation terminal is hit by another weapon, a hit event is generated; the position status is generated by the anti-armor simulation terminal's positioning module; when the anti-armor simulation terminal is not hit, the damage status is normal; when hit, a damage status is generated based on the damage model; initially, the background control system issues an initial ammunition quantity, and after each firing, the simulation terminal records the corresponding remaining ammunition quantity.

[0035] The main control unit, serving as the core processing unit, is used for logical information interaction and processing. Upward, it interacts with the backend control system in real time via a 4G / 5G long-range wireless communication network. Downward, it connects to the visual display and control device, direction and angle measuring device, data acquisition terminal, laser receiver, effect simulation device, and integrated control box for data interaction. The main control unit has multiple data interfaces and various data communication methods, including at least four serial ports, one CAN port, and one Ethernet port, and features 4G / 5G wireless communication capabilities, Zigbee wireless communication capabilities, and BeiDou / GPS positioning capabilities.

[0036] The main controller consists of a processor, peripheral circuits, functional modules, and external interfaces. The functional modules include a positioning module, a 4G / 5G module, a Zigbee module, a CAN converter module, a power supply module, and a main controller network card, providing support for high-precision positioning, 4G / 5G data communication, Zigbee data communication, CAN data to USB data conversion, main controller power supply, and TCP / IP network transmission.

[0037] The positioning module acquires current latitude and longitude information and transmits the data to the processor via external circuitry. The 4G / 5G module acquires external 4G / 5G communication data and transmits it to the processor via external circuitry; it also receives data from the processor and sends data out according to 4G communication mode. The Zigbee module acquires external Zigbee communication data and transmits it to the processor via external circuitry; it also receives data from the processor and sends data out according to Zigbee communication mode. The CAN port conversion module receives CAN bus protocol data and transmits it to the processor via external circuitry. The power supply module provides 12V to 36V power conversion capability and can power the main controller via an external lithium battery or vehicle DC power supply. The main controller's network card provides a network interface function for connecting to the anti-armor weapon's server to acquire real-time data from the anti-armor weapon's fire control and chassis. The main controller has multiple serial ports for data interaction with the visual display and control device, direction and angle measuring device, data acquisition terminal, laser receiving device, and effect simulation device. The main controller must be powered on before use.

[0038] The main controller provides a compatible power supply solution for both vehicle-mounted DC power and rechargeable battery packs, supporting a wide voltage range of 12V to 60V DC power. The main controller's peripheral circuitry includes a DC voltage regulator circuit that can adjust the 12V to 60V wide-voltage DC input power to 5V for use by subsequent circuits. The peripheral circuitry also includes an automatic dual-power input switching circuit that prioritizes the use of the vehicle-mounted DC power supply when both are available, and automatically switches to the rechargeable battery pack immediately upon power failure of the vehicle-mounted DC power supply.

[0039] The direction-finding and angle-measuring device is used to acquire the position, orientation, and tilt angle of the launcher. It consists of master and slave direction-finding and angle-measuring units and an adjustable bracket. In use, the master and slave direction-finding and angle-measuring units are fixed to the adjustable bracket, which is then secured to the gun box via adjustable straps, aligning with the launcher's orientation. The device is connected to the main control unit via a serial cable along the exterior of the vehicle body, transmitting the acquired direction-finding and angle-measuring data to the main control unit, which then supplies power. When the launcher / launch box is short (less than 1.2 meters), the adjustable bracket is fixed to the launcher / launch box, and the master and slave direction-finding and angle-measuring modules are secured to both ends of the adjustable bracket extension rod via ratchet straps. A locking pin is then used to lock the extension rod to the main body of the adjustable bracket, ensuring sufficient spacing (greater than 1.2 meters) between the master and slave direction-finding and angle-measuring units installed on the bracket, thereby guaranteeing the accuracy of the direction-finding and angle-measuring data acquisition.

[0040] The laser receiving device is used to receive laser information and simulate equipment being hit. It consists of laser receiving probes distributed around and on the top of the vehicle body. The number of laser receiving probes can be adjusted according to the vehicle size, and it interacts with the main control unit wirelessly via Zigbee. The laser receiving device adopts a distributed serial structure distributed around the vehicle body and is connected to the main control unit via a serial cable. It is powered by the main control unit, collects and analyzes laser information, and sends the data to the main control unit for processing. In actual operation, the number and density of laser probes can be dynamically adjusted according to different equipment sizes and usage requirements. A distributed laser receiving probe system is employed. Each probe can be numbered before use via software injection, following these rules: The top, front, rear, left, and right positions are designated 0, 1, 2, 3, and 4 respectively. For the top, the probes are numbered 01, 02, 03... from front to rear of the vehicle. For the front, rear, left, and right positions, the probes are numbered from left to right and rear facing the equipment, as 11, 12, 13...; 21, 22, 23...; 31, 32, 33...; 41, 42, 43.... The receiving probes can determine their location based on their assigned numbers and the pre-entered numbering rules. This facilitates troubleshooting of malfunctioning equipment and analysis of collected data for training and testing personnel. The distributed laser probes use timers to periodically send status information to the main control unit. The main control unit records the status signal of each probe. If no status signal is received from a probe within a specified threshold time, the main control unit actively sends a query to the probe. If no response is received within the specified time, the current receiving probe is considered faulty.

[0041] The effect simulation device is used to simulate the sound, light, and smoke effects generated when equipment is launched or destroyed. The effect simulation device is connected to the main control unit via a serial cable along the exterior of the vehicle. The device is fixed to the exterior of the anti-armor weapon using strong magnets and binding methods, connected to the main control unit via the serial port, and powered by the main control unit. Internally, it connects to pyrotechnic devices such as stun grenades and smoke grenades via an induction coil. When the induced current exceeds a certain threshold, the pyrotechnic device is triggered to launch, producing simulated launch or destruction effects. The effect simulation device uses a cascaded approach, connecting the parallel launch and destruction modules in series before connecting them to the main control unit, reducing one parallel interface on the main control unit and thus reducing its complexity.

[0042] The visual display and control device receives actual battlefield situation information. Equipped with a 3D visual engine, it loads a pre-made 3D map and, combined with the received battlefield situation information, dynamically generates target information on the 3D map, forming a virtual battlefield situation. A joystick is used to simulate missile flight control. After a target hit, the damage level is classified into normal, minor, moderate, severe, and destroyed based on target type, hit location, and target distance. The specific calculations are as follows:

[0043] The target types are Type I, Type II, and Type III, representing targets with different levels of protection, with Type I having the highest level of protection and Type III having the lowest level of protection; the target distance is divided into three segments: [0, X1], (X1, X2], and greater than X2; the hit location is divided into head, middle, tail, and top.

[0044] If the target is within the range of [0, X1], it is considered an accidental injury, no damage event occurs, and the system records it as a fault;

[0045] If the target distance is within the range (X1, X2), the damage result is calculated based on the hit location and target type.

[0046] Head Mid Tail Top Type I Light Medium Medium Heavy Type II Hit Heavy Heavy Hit Type III Hit Hit Hit Hit

[0047] No damage will occur if the target distance is greater than X2.

[0048] The damage results are fed back in real time, forming a complete launch, control, and damage chain. The visual display and control device uses a visual computer to generate virtual video from the missile's onboard camera; the virtual onboard video is displayed on a monitor. The specific process is as follows: ① In the preparation phase, training terrain is selected and created in advance according to training or testing, and loaded into the visual simulation platform of the visual computer; ② In the implementation phase, the main control unit obtains the overall situation information from the background through 4G / 5G long-distance communication and transmits it to the visual computer. After obtaining the situation, the visual simulation platform of the visual computer updates the three-dimensional situation in real time; ③ The main control unit sends the real-time obtained firing direction and angle information to the visual simulation platform. The visual simulation platform adjusts the firing direction and angle of the corresponding equipment in the virtual scene to be consistent based on the real-time obtained firing direction and angle information; ④ After receiving the launch command, the main control unit sends the launch command to the visual simulation platform. The visual simulation platform calls the ballistic model, combines the firing direction and angle, and the type of ammunition to perform ballistic trajectory calculation (there are many existing publicly available technologies for ballistic calculation, which are not the focus of this invention), and simulates the missile flight effect; ⑤ The visual simulation platform... Based on the simulated missile's flight, a virtual camera is set up in the visual platform from the missile's first-person perspective, and parameters such as field of view and depth of field are configured. The scene of the virtual camera is updated in real time according to the missile's real-time position, realizing real-time updates of the missile's onboard visual scene. The real-time video of the missile's onboard visual scene during flight is displayed on the monitor. ⑥ The gunner adjusts the simulated missile's flight direction by manipulating the control stick according to the target situation in the missile's onboard visual scene, and sends up, down, left, and right directional signals and corresponding directional intensities to the visual platform. This corresponds to executing the missile's ascent, descent, left turn, and right turn actions. Combined with the missile flight model, the missile's flight trajectory is generated and rendered and presented through the visual simulation platform. ⑦ If the missile hits the target on its flight trajectory, the damage model is used to determine the type of target, the hit location, and the type of ammunition. If the hit part is the front or top, it is considered destroyed; if the hit part is the middle or rear, it is considered severely damaged; otherwise, it is considered normal. The damage results are sent to the main control unit via the visual computer, and then the main control unit feeds back to the background guidance and control system. The background guidance and control system then sends the damage results to the designated target to produce the corresponding damage effect.

[0049] The main control unit provides a task priority allocation scheme and interrupt handling mechanism. In specific tasks, all messages are divided into three categories: instructions, events, and states. The priority order of tasks is set as instruction processing tasks > event processing tasks > state processing tasks, following a first-come, first-served principle. Execution is completed by the main thread and sub-threads. The main thread handles the acquisition, processing, and transmission of state data such as positioning data and direction / angle measurement data. Sub-threads primarily handle ad hoc events such as guidance and control commands, attack events, and launch commands. The specific execution process is as follows: ① Initialize the program, enter the main thread, and execute tasks sequentially; ② Determine if there are any event handling tasks such as guidance and control commands, damage events, or launch events; if so, interrupt the main program and enter the sub-thread for execution; ③ After the sub-thread completes execution, resume the main thread; ④ Repeat steps ①②③. (See appendix) Figure 7 As shown.

[0050] The aforementioned embedded beyond-visual-range anti-armor simulation terminal is embedded in actual equipment. By setting a virtual camera at the front of the missile in a three-dimensional simulation scene to generate a three-dimensional virtual battlefield scene, it guides the operator to complete the flight control of the missile by manipulating the control stick, thereby achieving precise strikes against targets beyond visual range, thus realizing beyond-visual-range strikes. Relying on actual equipment data, it achieves realistic simulation, has complete functions, low cost, and can support exercises and tests in real combat environments. At the same time, relying on actual equipment operation data, it is real and reliable, and can provide analysis and evaluation basis for training effects and equipment effectiveness, and has broad economic and application prospects.

[0051] This invention provides a method for conducting full-process training and testing of an over-the-horizon anti-armor weapon platform in the field. A virtual mapping of the actual weapon is established through a visual display and control device. Data from the actual weapon is collected by a main control computer. This data drives the virtual mapping of the actual weapon to produce effects in a virtual scene. The effects in the virtual scene are then fed back to a simulation terminal, achieving a virtual-real fusion interactive effect.

Claims

1. An embedded beyond-visual-range anti-armor simulation terminal, characterized in that, It includes a visual display and control device, a data acquisition terminal, a main control unit, a direction and angle measuring device, a laser receiving device, and an effect simulation device; The visual display and control device is used to receive actual battlefield situation information, load a pre-made 3D map, and combine it with the received battlefield situation information to dynamically generate target information on the 3D map to form a virtual battlefield situation; combined with the firing direction, firing angle, and ammunition type, it simulates the flight effect of the simulated missile, controls the flight of the simulated missile in the 3D scene, and sends the damage results to the main control unit. The direction and angle measuring device is used to obtain the position, orientation and tilt angle of the projectile, and sends the obtained direction and angle measuring data to the main control computer; The laser receiving devices are distributed around and on the top of the vehicle body to receive laser information and simulate the situation of the equipment being hit. The effect simulation device is used to simulate the sound, light, and smoke effects generated when the embedded beyond-visual-range anti-armor simulation terminal is launched or destroyed. The main control unit is used to acquire real-time fire control data of anti-armor weapons, interact with the background guidance and control system in real time, acquire overall situation information, and transmit it to the visual display and control device. It also feeds back the damage results of the simulated projectile to the background guidance and control system. The main control unit interacts with the visual display and control device, the direction and angle measuring device, the data acquisition terminal, the laser receiving device, and the effect simulation device, and provides positioning function. The data acquisition terminal interacts with the main control computer to collect data on the embedded beyond-visual-range anti-armor simulation terminal's strike events, hit events, position status, damage status, and remaining ammunition quantity, and to display, store, and query the data. The process of implementing the visual display and control device is as follows: ① Preparation stage: Select and create training terrain in advance, and load it into the visual display and control device; ② During the implementation phase, the main control unit acquires overall situational information and transmits it to the visual display and control device, updating the three-dimensional situation in real time; ③ The main control unit sends the real-time acquired firing direction and angle information to the visual display and control device, which adjusts the firing direction and angle of the corresponding equipment in the virtual scene based on the real-time acquired firing direction and angle information; ④ After receiving the launch command, the main control unit sends the launch command to the visual display and control device, which combines the firing direction, angle, and ammunition type to simulate and generate a simulated missile flight effect; ⑤ Based on the simulated missile flight situation, the visual display and control device prioritizes the missile... From a first-person perspective, a virtual camera is set up on the visual display and control device. The scene of the virtual camera is updated in real time through the real-time position of the virtual missile, realizing the real-time update of the missile's visual scene and displaying the real-time video of the missile's visual scene in flight; ⑥ The shooter adjusts the flight direction of the simulated missile according to the target situation in the missile's visual scene, executes the virtual missile action, generates the missile flight trajectory, and renders it; ⑦ If the missile hits the target on the missile's flight trajectory, the damage effect is generated according to the target type, hit position, and ammunition type. The damage result is sent to the main control unit, and then the main control unit feeds back to the background guidance and control system.

2. The embedded beyond-line-of-sight anti-armor simulation terminal according to claim 1, characterized in that, The main controller provides a task priority allocation scheme and interrupt handling mechanism: all messages are divided into three categories according to instructions, events, and states, and the priority order of priority tasks is set as instruction processing tasks > event processing tasks > state processing tasks; the specific execution is completed by the main thread and sub-threads: the program is initialized, the main thread is entered, and tasks are executed in sequence; it is determined whether there are guidance instructions, damage events, or launch event processing tasks. If so, interrupt the main program and enter the child thread for execution; after the child thread finishes execution, resume the main thread to continue execution. The main thread executes the acquisition, processing, and transmission of positioning data, direction finding, and angle finding data, while the sub-threads execute temporary guidance and control commands, strike events, and launch commands.

3. The embedded beyond-line-of-sight anti-armor simulation terminal according to claim 1, characterized in that, The visual display and control device consists of a bracket, a joystick, a display, and a computer; the display and joystick are integrated on the bracket, which is fixed to the actual gunner's control console; the joystick is connected to the computer and transmits control data to the computer; The computer is used for calculating and rendering the 3D virtual scene, presenting the visual effects through the monitor, and connecting to the main control computer via a serial port for data interaction; the monitor is used to display the 3D virtual scene, and the joystick is used to control the simulated projectile in the 3D scene.

4. The embedded beyond-line-of-sight anti-armor simulation terminal according to claim 3, characterized in that, The display, computer, and joystick are fixed together by mutual integration and embedded mounting. The display is installed in a metal shell and fixed to the joystick on a metal bracket. It is fixed to the shooter's console by a claw on the top of the bracket and a ratchet strap on the back. The computer is fixed in a reinforced shell by a clamp. The reinforced shell is equipped with a ratchet strap. The computer is fixed to the side of the shooter's console by the ratchet strap.

5. The embedded beyond-line-of-sight anti-armor simulation terminal according to claim 1, characterized in that, The laser receiving device consists of laser receiving probes distributed around and on the top of the vehicle body, which send data to the main control unit for processing. Before use, each laser probe is numbered and a timer is set to send status information to the main control unit at regular intervals. The main control unit records the status signal of each probe. If no probe status signal is received after a specified threshold time, the main control unit actively sends an inquiry to the probe. If no reply is received after a specified time, the current receiving probe is determined to be faulty.

6. The embedded beyond-line-of-sight anti-armor simulation terminal according to claim 1, characterized in that, The main controller includes a processor, functional modules, and external interfaces. The functional modules include a positioning module, a 4G / 5G module, a Zigbee module, a CAN interface conversion module, a power supply module, and a main controller network card. The positioning module acquires current latitude and longitude information and transmits the data to the processor for processing. The 4G / 5G module acquires external 4G / 5G communication data and transmits it to the processor for processing, while simultaneously receiving data from the processor and sending data out according to 4G communication mode. The Zigbee module acquires external Zigbee communication data and transmits it to the processor for processing, while simultaneously receiving data from the processor. The system sends data and transmits it according to the Zigbee communication mode; the CAN port conversion module receives the CAN bus protocol and sends it to the processor for processing; the power supply module provides 12V~36V power conversion capability, and supplies power to the main controller through an external lithium battery or vehicle DC power supply; the main controller network card provides network interface function for connecting to the anti-armor weapon server to obtain real-time data on the anti-armor weapon fire control and chassis; the main controller has multiple serial ports, which are used for data interaction with the visual display and control device, direction and angle measuring device, data acquisition terminal, laser receiving device, and effect simulation device.

7. The embedded beyond-line-of-sight anti-armor simulation terminal according to claim 1, characterized in that, The direction and angle measuring device consists of a master and a slave direction and angle measuring unit and an adjustable bracket. In use, the master and slave direction and angle measuring units are fixed on the adjustable bracket, and then the adjustable bracket is fixed to the gun box by an adjustable strap, and the orientation is consistent with that of the cartridge.

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