A method, device, equipment and storage medium for jungle training navigation

Abstract

The present application proposes a method, device, equipment and storage medium for jungle training navigation, the method comprising: using a drone to draw a map of the training area, pre-processing the data to remove noise, and then importing it into the command system, training server and helmet display. The command system personnel plan the path on the three-dimensional map and synchronize it to the training personnel's helmet display. The training personnel draw or mark the map based on the on-site feedback, and the command system adjusts the path accordingly. The server automatically evaluates the accessibility of the path and divides it into accessible, unreachable or to be explored. The present application significantly improves the efficiency and safety of jungle training navigation through precise planning and real-time feedback.

Description

Technical Field

[0001] The present application belongs to the field of jungle training, and in particular, relates to a method, device, equipment and storage medium for jungle training navigation. Background Art

[0002] With the rapid development of digital information, digital maps have become an inevitable path for the development of mapping technology in the information age, and are also an important part of geographic information systems. Digital maps have been widely used in urban planning, traffic management, travel navigation, environmental testing and other fields, realizing the combined development of digital technology and physical industry. Especially in the field of travel navigation, Beidou-based positioning technology and digital map route planning have effectively improved the efficiency and safety of urban traffic operations, greatly facilitating people's daily travel.

[0003] However, existing navigation technology mainly focuses on path planning for urban roads. For some special scenarios such as jungle training, navigation support is still insufficient. In jungle training, trainees need to perform tasks in a complex and changing environment. Traditional pre-loaded maps are mainly based on situation maps obtained by drone aerial photography in the early stage, but such maps lack necessary prompts in navigation functions, such as whether a certain path is accessible or whether a certain area is a safe area. This makes it difficult for trainees to effectively use navigation tools when performing tasks, and it is impossible to synchronize on-site information in real time, affecting training effects and safety. Summary of the invention

[0004] The purpose of the present application is to overcome the problems existing in the above-mentioned prior art and to provide a method, device, equipment and storage medium for jungle training navigation.

[0005] The present application provides a method for jungle training navigation, comprising:

[0006] Use drones for aerial mapping to obtain maps of the training area;

[0007] Preprocess the acquired geographic information data to eliminate noise data;

[0008] Import pre-processed maps into command systems, training server equipment and helmet displays;

[0009] The personnel on the command system side draw straight lines, curves or areas on the three-dimensional map to form a path plan; and synchronize the path planning results to the task training personnel on the helmet display side;

[0010] The task training personnel on the helmet display side draws a map or marks an area according to the on-site conditions and gives feedback on the on-site conditions;

[0011] The personnel on the command system side adjust the path planning according to the feedback of the on-site conditions;

[0012] The training server device automatically determines the path accessibility according to the height difference from the ground on the path, and marks it as reachable, unreachable or to be explored.

[0013] Optionally, it also includes:

[0014] If a new path is found, the mission training personnel on the helmet display side draws a new route and synchronizes it to the personnel on the command system side. After confirmation by the personnel on the command system side, the global map is updated.

[0015] Optionally, the drone aerial map drawing process includes: performing image recognition and transmission processing on the aerial images.

[0016] Optionally, the geographic information data preprocessing step includes: format conversion and coordinate correction of map data.

[0017] Optionally, the task trainer on the helmet display side switches to display a global map or a first-person perspective map according to needs.

[0018] Optionally, the command system personnel mark inaccessible areas including lakes and swamps when planning the route.

[0019] Optionally, when automatically determining the path accessibility, the training server device includes: distinguishing between accessible, unreachable or to-be-explored paths according to a preset threshold, and marking them with different colors on the map.

[0020] The present application provides a jungle navigation training device, comprising:

[0021] The acquisition module is used to use drones to perform aerial mapping and obtain maps of the training area;

[0022] A preprocessing module is used to preprocess the acquired geographic information data and eliminate noise data;

[0023] Import module, used to import pre-processed maps into command systems, training server equipment and helmet displays;

[0024] A planning module is used for the personnel on the command system side to draw straight lines, curves or areas on the three-dimensional map to form a path plan; and synchronize the path planning results to the task training personnel on the helmet display side;

[0025] A feedback module, used for the task training personnel on the helmet display side to draw maps or mark areas according to the on-site conditions and provide feedback on the on-site conditions;

[0026] An adjustment module, used by the personnel on the command system side to adjust the path planning according to the feedback of the on-site conditions;

[0027] The marking module is used for the training server device to automatically determine the path accessibility according to the height difference from the ground on the path, and mark it as reachable, unreachable or to be explored.

[0028] The present application also provides a jungle training navigation device, comprising:

[0029] Memory;

[0030] A processor is used to retrieve a computer executable program of the above-mentioned jungle training navigation method from the memory, and execute: using a drone to draw aerial maps to obtain a map of the training area; preprocessing the acquired geographic information data to eliminate noise data; importing the preprocessed map into the command system, training server equipment and helmet display; the personnel on the command system side draw straight lines, curves or areas on the three-dimensional map to form a path planning; synchronizing the path planning results to the task training personnel on the helmet display side; the task training personnel on the helmet display side draw maps or mark areas according to the on-site conditions and feedback the on-site conditions; the personnel on the command system side adjust the path planning according to the fed-back on-site conditions; the training server equipment automatically determines the accessibility of the path according to the height difference from the ground on the path, and marks it as accessible, unreachable or to be explored.

[0031] The present application also provides a storage medium, comprising: a computer executable program stored therein, wherein the computer executable program is used to be called by a processor to execute the steps of the above-mentioned jungle training navigation method.

[0032] The beneficial effects of this application are:

[0033] The present application provides a method for jungle training navigation, including: using a drone to draw aerial maps and obtain a map of the training area; preprocessing the acquired geographic information data to exclude noise data; importing the preprocessed map into the command system, training server equipment and helmet display; the command system side personnel draw straight lines, curves or areas on the three-dimensional map to form a path planning; synchronizing the path planning results to the helmet display side task training personnel; the helmet display side task training personnel draw maps or mark areas according to the on-site conditions and feedback the on-site conditions; the command system side personnel adjust the path planning according to the feedback of the on-site conditions; the training server equipment automatically determines the path accessibility according to the height difference from the ground on the path, and marks it as accessible, unreachable or to be explored. The present application improves the navigation efficiency and safety in jungle training through accurate path planning and real-time information feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flowchart of the jungle training navigation in this application;

[0035] Figure 2 It is a schematic diagram of the device for jungle training navigation in this application. DETAILED DESCRIPTION

[0036] The present application is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present application and implement it.

[0037] Please refer to Figure 1 As shown, the present application provides a method for jungle training navigation, the steps comprising:

[0038] S101. Use a drone to perform aerial mapping to obtain a map of the training area.

[0039] An Ad Hoc Network is built in a jungle environment to achieve network communication without fixed infrastructure support. The Ad Hoc Network is built by relying on wireless Ad Hoc portable base station equipment, which has the characteristics of high mobility, self-organization, self-repair and rapid deployment.

[0040] The wireless ad hoc network portable base station device is the core of building the network, which can automatically discover surrounding nodes and establish connections with them to form a multi-hop network structure. In the jungle, the wireless ad hoc network portable base station devices are flexibly deployed and communicate with each other through wireless signals to ensure the effective transmission of information.

[0041] Drones are equipped with wireless communication modules and serve as aerial relay nodes to expand network coverage, especially in jungle environments with complex terrain and difficult signal penetration. Drones can also dynamically adjust their positions according to network needs and optimize network topology.

[0042] The Beidou satellite navigation system is used to track the real-time location of each team member. The terminal device carried by each team member (such as handheld GPS, smart watch, etc.) receives Beidou satellite signals, calculates its precise location, and transmits this information to the command center through the self-organizing network. In this way, the command center can fully grasp the real-time location of each team member and provide strong support for command decisions.

[0043] Before training begins, aerial mapping is done using drones.

[0044] Drones are equipped with sensors such as high-definition cameras or lidars and fly over the training area to capture ground images or scan terrain data. These data are then processed into high-precision maps, including detailed information such as terrain, vegetation, roads, and buildings.

[0045] After the drone completes the aerial photography mission, it transmits the collected map data back to the server in the command center via a wireless link. This process requires the use of drones in the ad hoc network as relay nodes to ensure the reliability and stability of data transmission.

[0046] S102: pre-process the acquired geographic information data to eliminate noise data.

[0047] In jungle training navigation, after obtaining the map of the training area through drone aerial photography, the map data contains some unnecessary noise information or data that does not conform to the actual training scenario. In order to improve the practicality and accuracy of the map and ensure that the command personnel and users on both sides of the helmet display can clearly and intuitively understand and use the map, a series of preprocessing operations must be performed, including:

[0048] Filtering: Use filtering algorithms (such as Gaussian filtering, median filtering, etc.) to remove noise from map images. These noises are caused by light changes, cloud cover, tree shaking, etc. when the drone is shooting.

[0049] Outlier detection: Check for outliers in map data, such as coordinate points or areas that significantly deviate from conventional geographic features, and remove them through statistical methods or threshold judgment.

[0050] Geographic coordinate correction: Based on known ground control points (GCPs), map data is accurately geo-corrected to ensure that the map's coordinate system is consistent with the actual geographic coordinate system.

[0051] Elevation correction: Use ground elevation data (such as DEM data) to correct the elevation information in the map, especially for complex terrain areas such as mountains and hills, to ensure the accuracy of the elevation data.

[0052] Format conversion: Convert the acquired map data into a format suitable for display in the command system and helmet display, such as Cesium, KML, GeoJSON, etc., to facilitate subsequent map drawing and display.

[0053] Data compression: Effectively compress map data to reduce data storage space, improve data transmission efficiency, and maintain the clarity and accuracy of map data.

[0054] Automatic recognition: Use image recognition technology to automatically identify key features in the map, such as lakes, rivers, mountains, roads, etc., and annotate them.

[0055] Manual verification: Professionals will verify the automatic recognition results to ensure the accuracy and completeness of the annotations. For features that cannot be automatically identified, such as specific obstacles and traps, manual annotation is required.

[0056] Color enhancement: The map is enhanced in color according to the needs of the training scenario, such as distinguishing between passable and impassable areas (green for passable and red for impassable), to improve the intuitiveness and readability of the map.

[0057] Layer overlay: Different map layers (such as satellite images, contour maps, annotation layers, etc.) can be overlaid and displayed as needed to provide richer geographic information.

[0058] Rendering optimization: Optimize the map rendering process to improve map loading speed and display smoothness, especially on hardware devices such as helmet displays.

[0059] Cache strategy: Use cache strategy to store and reuse map data to reduce repeated requests and data processing time.

[0060] S103, importing the pre-processed map into the command system, training server equipment and helmet display.

[0061] The preprocessed data is integrated into a complete training map, which contains important information such as the terrain, landforms, vegetation, and water areas of the training area.

[0062] After the training map is imported, the command system and the helmet display of the participants can see the map in real time. In order to ensure the consistency of information, a real-time synchronization mechanism is established between the command system and the helmet display to ensure that both parties see the same map.

[0063] After receiving the map data, the command center will further process and optimize it, such as removing redundant information and enhancing image clarity. The processed map will be uploaded to the cloud or training server for subsequent use. At the same time, the map data will also be imported into the helmet display, tablet computer and other devices of the trainees so that they can view and refer to it at any time during the training process.

[0064] As an augmented reality (AR) or virtual reality (VR) device, helmet displays play an important role in training. They can display map data to trainers in an intuitive and three-dimensional way, helping them better understand the training environment and improve training results. In addition, helmet displays can also integrate other functions such as communication, navigation, target recognition, etc., to provide more comprehensive support for trainers.

[0065] The command personnel see the global map, which allows them to fully understand the overall situation of the training area. On the helmet display, the trainers can choose to view the global map or the first-person map as needed. The first-person map can dynamically adjust the display content according to the trainer's line of sight and position, allowing the trainers to more intuitively understand the environment around them.

[0066] The map display on the helmet display can be switched and adjusted according to the wearer's needs. For example, trainers can switch map zoom level, rotation angle and other parameters through the operation buttons on the helmet or voice commands to better observe and analyze map information.

[0067] S104: The personnel on the command system side draw straight lines, curves or areas on the three-dimensional map to form a path planning.

[0068] The command personnel log in to the command system and enter the map surveying and mapping interface. This interface is usually equipped with an advanced surveying and mapping tool set, including straight line drawing, curve drawing, polygon drawing and other functions.

[0069] Straight line drawing: If you need to mark a straight line between two points, click the straight line tool, click the starting point and the end point on the map in sequence, and the system will automatically draw a straight line.

[0070] Curve drawing: If the route is curved, select the curve tool and click continuously along the expected route, and the system will automatically generate a smooth curve.

[0071] Area drawing: For impassable areas such as lakes and swamps, select the polygon tool and click around the boundary of the area. Once closed, the system will consider the area to have specific attributes (such as impassable).

[0072] Property setting: After completing the survey, set the properties for the drawn graphics, such as color (usually red represents impassable), name (lake, swamp, etc.) and remarks (such as depth, area, etc.).

[0073] After confirming that the surveying and mapping is correct, save the surveying and mapping results. At the same time, preview the marking effect on the map to ensure that it meets actual needs.

[0074] Specifically, the command side personnel first need to determine two key location points A and B on the 3D map, which will serve as the starting and ending points of the line drawing operation. These points usually represent the starting and ending points of the areas or paths that need to be focused on in the training task.

[0075] The command staff uses professional mapping tools (such as Cesium) to operate on the 3D map. The command staff directly selects point A and point B on the 3D map and starts the connection tool. The tool will automatically draw a straight line between point A and point B. This straight line represents the shortest path from A to B in theory.

[0076] Furthermore, the command system has a built-in real-time data synchronization module, which is responsible for transmitting the surveying and mapping results of the command side to all connected helmet displays and other terminal devices in real time. Once the surveying and mapping results are saved, the system automatically triggers the synchronization mechanism to package the relevant data (including the coordinates, attributes and notes of the surveyed graphics) into a data packet in a specific format.

[0077] S105, synchronizing the path planning result to the task training personnel on the helmet display side.

[0078] The helmet display receives data packets from the command system through a wireless ad hoc network, and automatically parses and displays them on the helmet screen. Trainers can view the latest mapping results and inaccessible area information in real time through the helmet display.

[0079] S106: The helmet display side task training personnel draws a map or marks an area according to the on-site conditions and provides feedback on the on-site conditions.

[0080] Commanders and trainers can interact and provide feedback in real time through the helmet display. Commanders can mark and draw on the map, and synchronize this information to the helmet display in real time. At the same time, trainers can also draw or provide feedback on the on-site situation on the helmet display, and this information will also be synchronized to the command system in real time. This real-time interaction and feedback mechanism can greatly improve training efficiency and safety.

[0081] If the trainees find new impassable areas or need to modify existing markings on site, they can use the drawing tools on the helmet display to conduct on-site mapping and feed the results back to the command system through the self-organizing network. After receiving the feedback, the command system will automatically update the global map and synchronize it to the helmet displays of all trainees.

[0082] S107: The personnel on the command system side adjust the path planning according to the feedback of the on-site conditions.

[0083] The trainers will feed back the exploration results to the command side. If a certain path is proven to be impassable, they will draw a red mark on the map; if a new passable path is found, a green mark will be drawn. After receiving the feedback, the command side personnel will update the path planning on the map and synchronize it to all team members.

[0084] When a certain path is found to be impassable, the command side personnel need to plan an alternative path. They can reselect points C1 and D1 on the map and draw a new curve C1->D1 to bypass the obstacles on the original path. The new path also needs to be verified at the hierarchical level to ensure its traversability.

[0085] Once the alternative path is verified as passable, the command side personnel mark it green and synchronize it to the helmet display of all training personnel. In this way, all team members can see the latest path planning and execute the task according to the new route.

[0086] If the command side personnel cannot directly determine the passability of a certain path (such as marking it in orange), the training personnel need to explore it according to the on-site situation. They can view the orange-marked area on the helmet display and go to the area for on-site reconnaissance.

[0087] S108. The training server device automatically determines the accessibility of the path according to the height difference from the ground on the path, and marks it as reachable, unreachable or to be explored.

[0088] Considering the complexity of the jungle environment, the command personnel need to set a reference height (such as 1 meter above the ground) as the basis for path planning. This means that all paths drawn on the map will be simulated and verified based on this height.

[0089] The system automatically verifies the path from A to B based on the set level height. It checks each point on the path to ensure that its height from the ground does not exceed the set threshold (such as 1 meter). If the height of all points on the path meets the conditions, the path is considered passable and marked in green on the map.

[0090] During the path verification process, if the system finds that the height of a certain area on the path (such as section C to D) exceeds the set threshold (such as reaching 3 meters), it will automatically mark the section in red, indicating that there are obstacles (such as large rocks, low-lying areas, etc.) in this area and it is impassable.

[0091] The training server device automatically analyzes the height difference between each point on the path and the ground. This analysis takes into account multiple factors such as terrain undulations and floor heights to evaluate the actual accessibility of the path.

[0092] Based on the results of the height difference analysis, the training server device will automatically mark the path as reachable, unreachable, or to be explored. A reachable path means that the path is physically accessible; an unreachable path is excluded due to the presence of insurmountable obstacles (such as high walls, deep trenches, etc.); and a to be explored path may be temporarily unable to determine its accessibility due to insufficient information.

[0093] These accessibility markers will be synchronized to the helmet displays of all trainees in real time, providing them with more accurate navigation and decision-making support. At the same time, it will also help the command side personnel to have a more comprehensive understanding of the on-site situation and make more scientific and reasonable path planning adjustments.

[0094] like Figure 2 As shown, the present application provides a jungle training navigation device, comprising:

[0095] An acquisition module 201 is used to use a drone to perform aerial mapping and acquire a map of the training area;

[0096] The preprocessing module 202 is used to preprocess the acquired geographic information data and eliminate noise data;

[0097] An import module 203 is used to import the pre-processed map into the command system, training server equipment and helmet display;

[0098] Planning module 204, used for the personnel on the command system side to draw straight lines, curves or areas on the three-dimensional map to form a path plan;

[0099] Synchronization module 205, synchronizing the path planning result to the task training personnel on the helmet display side;

[0100] Feedback module 206, used for the task training personnel on the helmet display side to draw a map or mark an area according to the on-site conditions and provide feedback on the on-site conditions;

[0101] An adjustment module 207 is used for the personnel on the command system side to adjust the path planning according to the feedback of the on-site conditions;

[0102] The marking module 208 is used for the training server device to automatically determine the accessibility of the path according to the height difference from the ground on the path, and mark it as reachable, unreachable or to be explored.

[0103] The present application also provides a jungle training navigation device, comprising:

[0104] Memory;

[0105] A processor is used to retrieve a computer executable program of the above-mentioned jungle training navigation method from the memory, and execute: using a drone to draw aerial maps to obtain a map of the training area; preprocessing the acquired geographic information data to eliminate noise data; importing the preprocessed map into the command system, training server equipment and helmet display; the personnel on the command system side draw straight lines, curves or areas on the three-dimensional map to form a path planning; synchronizing the path planning results to the task training personnel on the helmet display side; the task training personnel on the helmet display side draw maps or mark areas according to the on-site conditions and feedback the on-site conditions; the personnel on the command system side adjust the path planning according to the fed-back on-site conditions; the training server equipment automatically determines the accessibility of the path according to the height difference from the ground on the path, and marks it as accessible, unreachable or to be explored.

[0106] The present application also provides a storage medium, comprising: a computer executable program stored therein, wherein the computer executable program is used to be called by a processor to execute the steps of the above-mentioned jungle training navigation method.

Claims

1. A method for jungle training navigation, characterized in that: include: Use drones for aerial mapping to obtain maps of the training area; Preprocess the acquired geographic information data to eliminate noise data; Import pre-processed maps into command systems, training server equipment and helmet displays; The personnel on the command system side draw straight lines, curves or areas on the three-dimensional map to form a path plan; The path planning results are synchronized to the task trainer on the helmet display side, and the trainer can view the latest mapping results and inaccessible area information in real time through the helmet display; The task training personnel on the helmet display side draws a map or marks an area according to the on-site conditions, gives feedback on the on-site conditions, and performs drawing operations or gives feedback on the on-site conditions on the helmet display; The personnel on the command system side adjust the path planning according to the feedback of the on-site conditions; The training server device automatically determines the path accessibility according to the height difference from the ground on the path, and marks it as reachable, unreachable or to be explored.

2. The method for jungle training navigation according to claim 1, characterized in that: Also includes: If a new path is found, the mission training personnel on the helmet display side draws a new route and synchronizes it to the personnel on the command system side. After confirmation by the personnel on the command system side, the global map is updated.

3. The method for jungle training navigation according to claim 1, characterized in that: The process of drawing the aerial map by unmanned aerial vehicle includes: performing image recognition and transmission processing on the aerial images.

4. The method for jungle training navigation according to claim 1, characterized in that: The geographic information data preprocessing step includes: format conversion and coordinate correction of map data.

5. The method for jungle training navigation according to claim 1, characterized in that: The task training personnel on the helmet display side switches to display the global map or the first-person perspective map according to needs.

6. The method for jungle training navigation according to claim 1, characterized in that: When planning the route, the personnel on the command system side mark the inaccessible areas including lakes and swamps.

7. The method for jungle training navigation according to claim 1, characterized in that: When the training server device automatically determines the path accessibility, it includes: distinguishing the paths that are reachable, unreachable or to be explored according to a preset threshold value, and marking them with different colors on the map.

8. A jungle training navigation device, characterized in that: include: The acquisition module is used to use drones to perform aerial mapping and obtain maps of the training area; A preprocessing module is used to preprocess the acquired geographic information data and eliminate noise data; Import module, used to import pre-processed maps into command systems, training server equipment and helmet displays; The planning module is used for the personnel on the command system side to draw straight lines, curves or areas on the three-dimensional map to form a path plan; the path planning results are synchronized to the task training personnel on the helmet display side, and the training personnel view the latest mapping results and inaccessible area information in real time through the helmet display; A feedback module, used for the task training personnel on the helmet display side to draw maps or mark areas according to the on-site conditions, give feedback on the on-site conditions, and perform drawing operations or give feedback on the on-site conditions on the helmet display; An adjustment module, used by the personnel on the command system side to adjust the path planning according to the feedback of the on-site conditions; The marking module is used for the training server device to automatically determine the path accessibility according to the height difference from the ground on the path, and mark it as reachable, unreachable or to be explored.

9. A jungle training navigation device, characterized in that: include: Memory; A processor, configured to retrieve from the memory a computer executable program of the method for jungle training navigation according to any one of claims 1 to 7, and execute: using a drone to draw aerial maps to obtain a map of the training area; preprocessing the obtained geographic information data to exclude noise data; The pre-processed map is imported into the command system, the training server device and the helmet display; the personnel on the command system side draw straight lines, curves or areas on the three-dimensional map to form a path planning; the path planning results are synchronized to the task training personnel on the helmet display side, and the training personnel view the latest mapping results and inaccessible area information in real time through the helmet display; The task training personnel on the helmet display side draw maps or mark areas according to the on-site conditions, feedback the on-site conditions, perform drawing operations on the helmet display or feedback the on-site conditions; the personnel on the command system side adjust the path planning according to the feedback of the on-site conditions; the training server device automatically determines the accessibility of the path according to the height difference from the ground on the path, and marks it as reachable, unreachable or to be explored.

10. A storage medium, characterized in that: include: A computer executable program is stored, and the computer executable program is used to be called by a processor to execute the steps of a jungle training navigation method as described in any one of claims 1 to 7.

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