Digital twinning system for autonomous hidden operation of amphibious platform and establishment method and operation method of digital twinning system

Abstract

The invention provides a digital twinning system for autonomous hidden operation of an amphibious platform and an establishment method and an operation method thereof, and belongs to the field of digital twinning. The objective of the invention is to solve the problem that the imperceptibility and safety of actual operation are affected due to large loss and dangerous conditions in the test operation process during the entity test of the multi-habitat platform. Comprising a multi-habitat platform dynamic model establishment module, a virtual marine environment construction module, a visual module, a man-machine interaction module and a digital twin system simulation module, and the virtual marine environment construction module simulates real underwater and seabed environments; the man-machine interaction module is responsible for providing various interfaces for managing the system for a user; the multi-habitat platform dynamic model establishment module is used for platform dynamic simulation and dynamic behavior prediction; and the visual module displays the underwater operation process of the platform in real time after receiving the data of the entity and the dynamic model. The method has portability and applicability, can truly reflect the working process of the platform, and verifies the effectiveness of platform operation.

Description

Technical Field

[0001] The present invention relates to the field of digital twin technology, and in particular to a digital twin system for autonomous covert operations of an amphibious platform and a method for establishing and operating the system. Background Art

[0002] The ocean has abundant resources, so in recent years, countries around the world have increased their development and utilization of the ocean. However, due to the complex and harsh underwater environment of the ocean, most of the equipment on land and humans cannot operate in the underwater environment. Autonomous underwater vehicles (AUVs) are widely used in underwater missions due to their high maneuverability, autonomy and safety. In the underwater environment, the motion planning of AUVs depends not only on the motion characteristics of AUVs, i.e., kinematic and dynamic constraints, but also on the influence of environmental factors. In addition to the known seabed topography and static obstacles, due to the complexity and unpredictability of the underwater environment, AUVs cannot obtain complete environmental information before the mission, and the existence of unknown obstacles seriously affects the motion planning of AUVs. Therefore, the Unmanned Underwater Vehicle (UUV) came into being. It has the advantages of quiet stealth of underwater robots and multi-terrain adaptability of land unmanned vehicles, and can realize cross-domain operations and navigation capabilities of amphibious vehicles on land and water. It has better performance indicators, stronger operating capabilities and higher autonomy levels, which can better expand the scope of application and operating capabilities of marine robots.

[0003] Digital twin technology is a process of virtually representing an object, device, or system in the real world. A digital twin consists of real-time information from sensor data, simulations, and models of physical objects, which can be used to simulate and predict future conditions. Digital twins can help predict future conditions and performance by simulating and analyzing the conditions of physical entities. When sensor data is fed into a digital twin, it can compare this data with the state of the physical object to make predictions about the current state.

[0004] In terms of shallow-water operations, facing the harsh underwater environment and complex shallow-water terrain, how to achieve cross-domain operations is an urgent problem to be solved. If the platform is tested only through a large number of physical tests, there will not only be problems of equipment loss and high maintenance costs, but also various possible dangerous situations cannot be accurately simulated, such as extreme water flow and equipment failure. Therefore, it is necessary to simulate and analyze its operation process. Building a simulation platform that simulates the physical operation process in real time and predicts its motion state can predict the wear and potential failure of the equipment in advance. Operators can conduct operation training and test complex tasks in a virtual environment, familiarize themselves with various operation and control methods of the platform, improve their proficiency and responsiveness, and thus reduce the possibility of accidents. By simulating different underwater environmental conditions, it helps to evaluate the adaptability and stability of amphibious platforms under various complex environmental conditions, provide valuable guidance suggestions for the practical application of amphibious platform covert operations, discover and solve existing problems in advance before performing tasks, effectively verify the performance of amphibious platform covert operations, and ensure the safety and efficiency of field tests. Summary of the invention

[0005] The technical problems to be solved by the present invention are:

[0006] In order to solve the problem that the physical testing operations of multi-habitat platforms have large losses and dangerous situations may occur during the testing operations, which affects the concealment and safety of actual operations.

[0007] The present invention adopts the following technical solutions to solve the above technical problems:

[0008] The present invention provides a digital twin system for autonomous covert operation of amphibious multi-purpose platforms, comprising:

[0009] A multi-terrain platform dynamics model building module, which is used to receive the entity data of the multi-terrain platform and predict the movement behavior of the multi-terrain platform under different conditions;

[0010] Virtual ocean environment construction module, used to simulate the real ocean current environment and seabed environment to build a virtual operating environment;

[0011] When simulating the ocean current environment, the original ocean current data set is used to obtain ocean characteristic data of ocean current, temperature field, and salinity field through linear interpolation processing; when simulating the seabed environment, the real seabed terrain is constructed according to the terrain height map of the mission area;

[0012] The digital twin system simulation module is used to generate virtual sensor data of the amphibious platform based on the amphibious platform posture information and sonar data obtained by the radar on the amphibious platform, realize sensor simulation of real ocean environment data, solve the amphibious platform posture information according to mission requirements, and describe the motion trajectory of the amphibious platform in the ocean;

[0013] The visual module is used to display the simulated operation process of the multi-habitat platform in the form of multi-angle transformation of the constructed multi-habitat platform three-dimensional entity model and operation target model. Through the posture information of the multi-habitat platform entity and the multi-habitat platform dynamics model, the mapping of the multi-habitat platform in the virtual environment is completed. In the visual module, it can be observed that the multi-habitat platform completes the specific operation after receiving the instruction information from the human-computer interaction module;

[0014] The human-computer interaction module is the interactive interface between the user and the digital twin simulation module. It is used to realize the communication between the user and the digital twin system simulation module through the network. The user can set the simulation parameters through the human-computer interaction module before the multi-habitat platform operates. The simulation system sends specific task instructions to the multi-habitat platform according to the operation task requirements.

[0015] Furthermore, when simulating the ocean current environment, the original ocean current data set is used to obtain the ocean characteristic data of ocean currents, temperature fields, and salinity fields through linear interpolation processing; when simulating the seabed environment, the real seabed terrain is constructed according to the terrain height map of the mission area.

[0016] The present invention provides a method for establishing a digital twin system for autonomous concealed operation of an amphibious platform according to claim 1, comprising the following steps:

[0017] S100, establish a multi-habitat platform dynamics model, including:

[0018] The motion constraints of the multi-habitat platform, that is, the platform dynamics model is:

[0019]

[0020]

[0021]

[0022] -m(y G q+z G r)u+m(y G p+w)v+m(z G pv)w+(J xx p+J zy q+J z r)q-(J yx p+J y q+J yz r)r=K(4)

[0023] m(x G qw)um(z G r+x G p)v+m(z G q+u)w-(J zx p+J zyq+J z r)p+(J x p+J xy q+J zx r)r=M(5)

[0024] m(x G r+v)u+m(y G ru)vm(y G q+x G p)w+(J yx p+J y q+J yz r)p-(J x p+J xy q+J xz r)q=N(6)

[0025] Where m represents the mass of the multi-habitat platform;

[0026] u, v, w represent the velocity components of the amphibious unmanned platform in the x-axis, y-axis and z-axis respectively; p, q, r represent the angular velocity components of the amphibious platform respectively; J x represents the moment of inertia of the rigid body about the x-axis, J y represents the moment of inertia of the rigid body about the y-axis, J z represents the moment of inertia of the rigid body about the z-axis, J yz , J yz Represent the inertia product of the rigid body about the y-axis and the z-axis respectively, J xz , J zx Respectively represent the inertia product of the rigid body about the z-axis and the x-axis, J xy , J yx Represent the inertia product of the rigid body about the x-axis and y-axis respectively,

[0027] x G ,y G 、z G Respectively represent the coordinates of the center of gravity on the x-axis, y-axis and z-axis in the hull coordinate system;

[0028] The dynamic model is expressed in vector form as:

[0029]

[0030] Where ν0 represents the velocity vector in the amphibious platform coordinate system, ν0 = [uvwpqr] T ; τ RB Represents the vector form of external force and torque, τ RB=[XYZKMN] T , where X is the longitudinal resultant force, Y is the lateral resultant force, Z is the vertical resultant force, K is the roll resultant moment, M is the pitch resultant moment, and N is the yaw resultant moment; M RB represents the system inertia matrix; C RB (v0)v0 represents the Coriolis force of the multi-habitat platform, which means the Coriolis force vector term Ω×U and the centripetal force vector term Ω×(Ω×R C );C RB (v0) represents the Coriolis force centripetal matrix of the multi-habitat platform;

[0031] S200, using Unity engine to build a 3D entity model of the multi-habitat platform, an operation target model, a virtual ocean current environment model and a seabed environment model;

[0032] S300, establishing digital twin system communication, generating virtual sensor data of the amphibious platform according to the amphibious platform posture information obtained in step S100 and the sonar data obtained by the radar on the amphibious platform, as well as the amphibious platform three-dimensional entity model, operation target model, virtual ocean current environment model and seabed environment model obtained in step S200, realizing sensor simulation of real ocean environment data, solving the amphibious platform posture information according to task requirements, and predicting the motion trajectory of the amphibious platform;

[0033] S400, using a visual module to display the movement of the multi-habitat platform in three-dimensional space in real time, so that the user can observe the operation process of the platform from multiple angles.

[0034] Furthermore, in step S200, it includes:

[0035] S210, inputting the drawings of the multi-habitat platform into the Unity engine to generate a three-dimensional entity appearance model of the multi-habitat platform;

[0036] S220, generating the real terrain data of the operation area into a height map and then importing it into the Unity engine to generate an operation target model;

[0037] S230, obtaining the original ocean current data set, preprocessing the data set using the interpolation method, establishing a mathematical model of the underwater velocity field according to the spatial distribution and temporal variation of the ocean data; establishing a fluid mechanics model of the object based on the geometric shape of the object and the underwater velocity field; obtaining the distribution of the underwater velocity field by solving the Navier-Stokes equation, describing the mass conservation of the fluid by the continuity equation, describing the movement and force of the fluid by the momentum equation,

[0038] The mathematical model of underwater flow velocity field is:

[0039] υ(x,y,z,t)=(u(x,y,z,t),v(x,y,z,t),w(x,y,z,t)) (8)

[0040] Where υ is the three-dimensional velocity field; u, v, and w are the velocity components in the x, y, and z directions, respectively;

[0041] The continuity equation is:

[0042] ▽·υ=0 (9)

[0043] The momentum equation is:

[0044]

[0045] Among them, ρ is the fluid density; p is the pressure; μ is the dynamic viscosity coefficient; g is the gravitational acceleration.

[0046] Furthermore, in step S300, the UDP protocol is used to define a data structure for data transmission, and the structure data transmission is performed.

[0047] Furthermore, in step S400, it includes: receiving the posture information of the amphibious platform dynamic model in real time through the digital twin system communication protocol, and displaying the operation movement process of the amphibious platform in real time, and after the amphibious platform moves to the target operation position, receiving the control signal output by the system, and displaying and completing the specific operation process in the Unity interface.

[0048] The present invention provides an operating method of a digital twin system for autonomous concealed operation of an amphibious multi-purpose platform, comprising the following steps:

[0049] S100, completing parameter setting, communication configuration and task planning of the multi-habitat platform in the human-computer interaction module, and issuing a simulation start command after initialization is completed;

[0050] S200, after the simulation starts, the digital twin system receives the communication data, maps the position and attitude status of each amphibious platform in real time, and feeds back to the visual module to display the navigation picture in real time;

[0051] S300, when the amphibious platform arrives at the target operation area, the real-time image transmitted by the payload camera of the amphibious platform is controlled by the remote command of the human-computer interaction module to enable the payload of the amphibious platform to perform specific operations according to the mission requirements.

[0052] Furthermore, in step S100, it includes importing the three-dimensional entity model of the amphibious platform, platform load and operation target, setting the number and parameters of the amphibious platform, the dynamic model of the amphibious platform, the virtual environment parameters, the vision module parameters, the communication ports of each part of the digital twin system and the task planning of the amphibious platform.

[0053] Furthermore, in step S300, the user observes the actual movement process of the multi-perspective platform through the multi-view conversion provided by the vision module. After the platform arrives at the target operation area, specific work instructions are issued through the human-computer interaction module according to the load camera image. After parsing the data received through communication, the multi-perspective platform controls the load equipment to perform the corresponding operation tasks.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] The present invention simulates the real underwater and seabed environment of the ocean, and can simulate the actual working state of the amphibious platform to the greatest extent. Through dynamic simulation, the control parameters and motion performance of the platform can be effectively analyzed, providing valuable reference for actual testing and application.

[0056] The present invention adopts the same control system as the actual physical platform. Through the communication of the digital twin system, the position information and interaction instructions of the platform can be solved in real time. It has good portability and applicability. The models of different platforms can be quickly connected to the digital twin system for simulation testing, and the application range is wide.

[0057] The present invention uses high-quality 3D graphics and Unity's real-time rendering function to make the virtual model of the digital twin highly visible and realistic, which helps to understand the operation of complex systems and make real-time decisions.

[0058] The present invention is highly scalable and flexible, allowing developers to customize and expand the digital twin simulation system according to task requirements, add more interactive functions to the amphibious platform, and complete simulation operations that are consistent with actual operating conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a flow chart of a method for establishing a digital twin system for autonomous and concealed operations of an amphibious platform in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In the description of the present invention, it should be noted that the terms "first", "second", and "third" mentioned in the embodiments of the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features.

[0061] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0062] Specific implementation plan 1: Combine Figure 1As shown, the present invention provides a digital twin system based on autonomous covert operation of amphibious multi-purpose platforms, comprising:

[0063] A multi-terrain platform dynamics model building module, which is used to receive the entity data of the multi-terrain platform and predict the movement behavior of the multi-terrain platform under different conditions;

[0064] The virtual ocean environment construction module is used to simulate the real ocean current environment and seabed environment through the Unity engine to build a virtual operating environment;

[0065] When simulating the ocean current environment, the original ocean current data set is used to obtain ocean characteristic data of ocean current, temperature field, and salinity field through linear interpolation processing; when simulating the seabed environment, the real seabed terrain is constructed according to the terrain height map of the mission area;

[0066] The digital twin system simulation module is used to generate virtual sensor data of the amphibious platform based on the amphibious platform posture information and sonar data obtained by the radar on the amphibious platform, realize sensor simulation of real ocean environment data, solve the amphibious platform posture information according to mission requirements, and describe the motion trajectory of the amphibious platform in the ocean;

[0067] The visual module is used to display the simulated operation process of the multi-habitat platform in the form of multi-angle transformation of the constructed multi-habitat platform three-dimensional entity model and operation target model. Through the posture information of the multi-habitat platform entity and the multi-habitat platform dynamics model, the mapping of the multi-habitat platform in the virtual environment is completed. In the visual module, it can be observed that the multi-habitat platform completes the specific operation after receiving the instruction information from the human-computer interaction module;

[0068] The human-computer interaction module is the interactive interface between the user and the digital twin simulation module. It is used to realize the communication between the user and the digital twin system simulation module through the network. The user can set the simulation parameters through the human-computer interaction module before the multi-habitat platform operates. The simulation system sends specific task instructions to the multi-habitat platform according to the operation task requirements.

[0069] Specific implementation plan 2: Combination Figure 1 As shown, the present invention provides a method for establishing a digital twin system for autonomous concealed operation of an amphibious multi-purpose platform, comprising the following steps:

[0070] S100, establish a multi-habitat platform dynamics model, including:

[0071] In the digital twin system, the motion constraints of the amphibious platform can be described by the motion simulation model; the motion simulation model is a motion equation based on physical principles and mathematical models, which is used to simulate and predict the motion behavior of the amphibious platform under different conditions; a commonly used motion simulation model is a model based on the principle of dynamics, which takes into account the influence of the mass, inertia, force and torque factors of the amphibious platform on the motion;

[0072] The motion constraints of the multi-habitat platform, that is, the dynamic model of the multi-habitat platform is:

[0073]

[0074]

[0075]

[0076] -m(y G q+z G r)u+m(y G p+w)v+m(z G pv)w+(J xx p+J zy q+J z r)q-(J yx p+J y q+J yz r)r=K (4)

[0077] m(x G qw)um(z G r+x G p)v+m(z G q+u)w-(J zx p+J zy q+J z r)p+(J x p+J xy q+J zx r)r=M (5)

[0078] m(x G r+v)u+m(y G ru)vm(y G q+x G p)w+(J yx p+J y q+J yz r)p-(J x p+J xy q+J xz r)q=N (6)

[0079] Where m represents the mass of the amphibious platform; u, v, w represent the velocity components of the amphibious platform in the x-axis, y-axis and z-axis respectively; p, q, r represent the angular velocity components of the amphibious platform respectively; J x represents the moment of inertia of the rigid body, i.e. the multi-terrain platform, about the x-axis, J y represents the moment of inertia of the rigid body about the y-axis, J z represents the moment of inertia of the rigid body about the z-axis, J yz , J yz Represent the inertia product of the rigid body about the y-axis and the z-axis respectively, J xz , J zx Respectively represent the inertia product of the rigid body about the z-axis and the x-axis, J xy , J yx Represent the inertia product of the rigid body about the x-axis and y-axis respectively, x G ,y G 、z G Respectively represent the coordinates of the center of gravity on the x-axis, y-axis and z-axis in the hull coordinate system;

[0080] The dynamic model can be expressed in vector form as:

[0081]

[0082] Where ν0 represents the velocity vector in the amphibious platform coordinate system, ν0 = [uvwpqr] T ; τ RB Represents the vector form of external force and torque, τ RB =[XYZKMN] T , where X is the longitudinal resultant force, Y is the lateral resultant force, Z is the vertical resultant force, K is the roll resultant moment, M is the pitch resultant moment, and N is the yaw resultant moment; M RB represents the system inertia matrix; C RB (v0)v0 represents the Coriolis force of the multi-habitat platform, which means the Coriolis force vector term Ω×U and the centripetal force vector term Ω×(Ω×R C );C RB (v0) represents the Coriolis force centripetal matrix of the multi-habitat platform;

[0083] The motion equations describe the motion behavior of the amphibious platform under different forces and moments. By solving these equations, the motion trajectory, velocity and acceleration parameters of the amphibious platform under different conditions can be obtained. By correcting and restricting the motion equations, it can be ensured that the motion behavior of the amphibious platform meets the motion constraints. In the digital twin system, it is possible to receive entity data to simulate entity motion and predict entity motion by solving the dynamic model.

[0084] S200, constructing a three-dimensional entity model of an amphibious platform, an operation target model, a virtual ocean current environment model and a seabed environment model, including:

[0085] S210, using Unity engine, build a 3D solid appearance model of the multi-habitat platform,

[0086] Through high-precision modeling, the virtual multi-terrain platform is ensured to be highly consistent with the real multi-terrain platform entity and its load in terms of geometry and physical properties; texture mapping can be used to add surface details to the model, such as metal texture and paint color. High-resolution texture mapping can also be used to make the surface of the multi-terrain platform three-dimensional solid model more realistic. Material properties such as reflection and gloss can also be set to make the model show different visual effects under different lighting conditions; high-fidelity visualization helps to better understand and analyze the behavior of the system and its performance in the real environment, so that operators can more intuitively see the appearance effect during the operation, so as to better discover and solve potential problems;

[0087] The Unity engine has a water system feature set, providing a ready-made, physically based water shader designed according to the latest lighting model launched by HDRP, which can also be customized using Shader Graph to adjust the smoothness, refraction, absorption, diffusion and light scattering properties of the water surface; use the Fast Fourier Transform (FFT) that comes with the Unity engine to simulate programmatic ocean waves, superimpose waves of different frequencies to form complex wave effects, and control the degree of water disturbance by controlling the frequency range;

[0088] The processed ocean data features are added to the generated ocean, and the three-dimensional coordinate ocean data features of the amphibious platform are subjected to external forces during the movement of the amphibious platform, so as to simulate the force conditions of the amphibious platform during underwater movement in a real environment;

[0089] S220, the Unity engine may represent the height of each point on the terrain as a value in a rectangular array, and the array is represented by a grayscale height map. The height map is a grayscale image, in which the brightness value of each pixel represents the height of the corresponding point on the terrain; the higher the brightness value, the higher the corresponding terrain point; the real terrain data of the operation area is generated as a height map, and the values ​​stored in the height map are used to define the height of each point or vertex on the terrain. The real terrain is imported into Unity as a height map to simulate the real terrain of the operation area;

[0090] Add colliders to create better terrain, ensuring that the multi-terrain platform can achieve correct collision and movement effects on the terrain. Different texture maps can be applied to simulate the seabed surface texture to create a more realistic terrain.

[0091] S230, for the amphibious platform simulation process, use real ocean current data to simulate the ocean current,

[0092] Simulating the forces of a real underwater amphibious platform is of great significance for simulation experiments, which can increase the authenticity of the simulation and better simulate and deduce the motion state of the amphibious platform;

[0093] This includes obtaining the original ocean current data set and ocean physics data set (temperature, salinity, depth), preprocessing the data set, using interpolation methods to fill in missing values ​​and refine data accuracy. More complete and detailed ocean current data can be better used to simulate underwater environments; based on the spatial distribution and temporal changes of ocean data, a mathematical model of the underwater velocity field is established; based on the geometric shape of the object and the underwater velocity field, a fluid mechanics model of the object is established; this is a model based on empirical formulas or numerical simulation results, used to describe the magnitude and direction of the resistance and torque force that an object experiences underwater; using the established fluid mechanics model, various forces that an underwater object experiences in the water flow are calculated, including resistance, pressure, and buoyancy;

[0094] By solving the Navier-Stokes equations, we can get the distribution of the underwater velocity field, use the continuity equation to describe the conservation of fluid mass, and use the momentum equation to describe the motion and force of the fluid.

[0095] The mathematical model of underwater flow velocity field is:

[0096] υ(x,y,z,t)=(u(x,y,z,t),v(x,y,z,t),w(x,y,z,t)) (8)

[0097] Where υ=(u,v,w) is the three-dimensional velocity field; u, v and w are the velocity components in the x, y and z directions respectively;

[0098] The continuity equation is:

[0099] ▽·υ=0 (9)

[0100] The momentum equation is:

[0101]

[0102] Among them, ρ is the fluid density; p is the pressure; μ is the dynamic viscosity coefficient; g is the gravitational acceleration;

[0103] Fluid mechanics parameters such as velocity gradient and pressure gradient can be obtained by analytical or numerical solution of Navier-Stokes equations. Considering the platform's underwater motion equations, force equations and boundary conditions, a mathematical model of underwater fluid mechanics is established to describe the motion and force conditions of the amphibious platform in the ocean current.

[0104] S300, establishing digital twin system communication, generating virtual sensor data of the amphibious platform according to the amphibious platform attitude information obtained in step S100 and the sonar data obtained by the radar on the amphibious platform, and realizing sensor simulation of real ocean environment data, including:

[0105] Digital twin system communication is used to realize data exchange and communication between the multi-aquatic platform entity and simulation system, ensuring real-time and accurate transmission of ship status and control information;

[0106] In the physical test of the multi-terrain platform, the digital twin system communication can transmit the position and posture information, sensor data, control instructions and status information of the actual multi-terrain platform to the simulation system; the simulation system can simulate and predict its movement according to the real-time multi-terrain platform status to verify and optimize the design algorithm and control algorithm;

[0107] In the simulation system, the digital twin system communication can transmit the multi-habitat platform status and simulation results generated by the simulation system to the multi-habitat platform entity to realize virtual-reality fusion testing; through the digital twin communication protocol, the multi-habitat platform entity can receive the control instructions of the simulation system and compare and verify the simulation results with the actual environment;

[0108] The role of digital twin system communication is to realize real-time data exchange and communication between the physical and simulation systems to ensure the effective connection between physical testing and simulation; provide high-speed and reliable data transmission to ensure real-time and accuracy; at the same time, the communication can also support a variety of data formats and protocols to meet the needs of different systems and devices;

[0109] The present invention uses the UDP protocol to transmit structured data. This method is a commonly used network communication method and is suitable for applications with high real-time requirements. It packs multiple structured data into a larger data packet for transmission to reduce network delay and improve efficiency. Using a fixed-length data structure can simplify the logic of serialization and deserialization and improve the efficiency of data processing. The asynchronous method of UdpClient is used to avoid blocking the main thread and improve the responsiveness and performance of the application. It includes using the UdpClient class to create a UDP socket for receiving data packets sent by the sender; listening to data packets on the network in an independent thread and processing the data packets when they are received; parsing the received data packets to extract posture information; applying the extracted posture information to local objects to achieve real-time change effects.

[0110] S400, using the visual module to display the movement of the amphibious platform in three-dimensional space in real time, so as to observe the operation process of the amphibious platform from multiple angles, including:

[0111] Visual simulation refers to the use of Unity3D software to create a 3D simulation environment, which aims to provide a visual and interactive experience of a real or fictional environment for the testing of the multi-terrain platform; using the digital twin system communication to receive the posture information of the multi-terrain platform dynamics model in real time, and display the multi-terrain operation movement process in real time in the three-dimensional visual module. After the multi-terrain platform moves to the target position, it receives the control signal output by the system, and displays and completes the specific operation process in the Unity interface;

[0112] Adding multi-perspective switching to a scene involves creating and managing multiple cameras and implementing the logic of switching between different cameras; at the same time, adding UI elements so that users can control the perspective switching; including using the UI system to create UI elements such as buttons for controlling perspective switching, which allow users to choose between different perspectives; controlling the rotation of the camera by writing a script and attaching the script to the camera; then, using the click event of the UI button to trigger the camera rotation function to achieve multi-perspective surround observation of the target platform.

[0113] The other combinations and connection relationships of this embodiment are the same as those of the first embodiment.

[0114] Specific implementation plan three: Combined Figure 1 As shown, the present invention provides an operation method of a digital twin system for autonomous covert operation of an amphibious platform, comprising the following steps:

[0115] S100: Complete the parameter setting, communication configuration and task planning of the multi-habitat platform in the human-computer interaction module, and after the initialization is completed, issue a simulation start command.

[0116] This includes importing the 3D entity models of the amphibious platform, platform load and operation target, setting the number and parameters of the amphibious platform, the dynamic model of the amphibious platform, the virtual environment parameters, the visual module parameters, the communication ports of each part of the digital twin system and the mission planning of the amphibious platform;

[0117] The realism of the 3D model is mainly guaranteed by the model, material and lighting. During the construction process, the multi-habitat platform provides drawings of the general layout and basic structure of the carrier. After data processing of these drawings, they can be imported into the 3dsMax modeling software to build an accurate 3D model. The surface texture of the multi-habitat platform is obtained by taking photos of the real object and combining it with Photoshop processing. The lighting effect is processed by combining baking to generate global lighting and real-time calculation of local lighting. For models that require dynamic lighting effects, real-time calculation of dynamic local lighting is performed.

[0118] S200, after the simulation starts, the digital twin system receives the communication data, maps the position and posture status of each amphibious platform in real time, and feeds back to the visual module to display the navigation picture in real time;

[0119] S300, when the multi-functional platform arrives at the target operation area, the multi-functional platform payload is controlled by the remote command of the human-computer interaction module to perform specific operations according to the task requirements through the real-time images transmitted by the payload camera of the multi-functional platform.

[0120] During this process, users can observe the actual movement process of the multi-perspective platform through the multi-view conversion provided by the vision module. After the multi-perspective platform arrives at the target operation area, it issues specific work instructions through the human-computer interaction module according to the load camera image. After parsing the data received through communication, the multi-perspective platform controls the load equipment to perform the corresponding operation tasks.

[0121] The other combinations and connection relationships of this embodiment are the same as those of the first embodiment.

[0122] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A digital twin system for autonomous covert operations of amphibious platforms, characterized by: include, A multi-habitat platform dynamics model building module is used to receive physical data of the multi-habitat platform and predict the movement behavior of the multi-habitat platform under different conditions; Virtual ocean environment construction module, used to simulate real ocean current and seabed environments to build a virtual operating environment; When simulating ocean current environments, the original ocean current dataset is used to obtain ocean characteristic data such as ocean currents, temperature fields, and salinity fields through linear interpolation. When simulating the seabed environment, the real seabed topography is constructed based on the mission area terrain height map. The digital twin system simulation module is used to generate virtual sensor data of the amphibious platform based on the amphibious platform's posture information and sonar data obtained by the radar on the amphibious platform, realize sensor simulation of real ocean environment data, solve the amphibious platform's posture information according to mission requirements, and describe the motion trajectory of the amphibious platform in the ocean; The visual module is used to display the simulated operation process of the multi-habitat platform in the form of multi-angle transformation of the constructed three-dimensional entity model of the multi-habitat platform and the operation target model. The multi-habitat platform is mapped in the virtual environment through the posture information of the multi-habitat platform entity and the multi-habitat platform dynamic model. In the visual module, it can be observed that the multi-habitat platform completes the specific operation after receiving the instruction information from the human-computer interaction module. The human-computer interaction module is the interactive interface between the user and the digital twin simulation module. It is used to realize communication between the user and the digital twin system simulation module through the network. The user can set the simulation parameters through the human-computer interaction module before the multi-habitat platform operates. The simulation system sends specific task instructions to the multi-habitat platform according to the operation task requirements.

2. The digital twin system for autonomous covert operations of an amphibious platform according to claim 1 is characterized by: When simulating the ocean current environment, the original ocean current data set is used to obtain ocean characteristic data of ocean currents, temperature fields, and salinity fields through linear interpolation processing; when simulating the seabed environment, the real seabed topography is constructed based on the terrain height map of the mission area.

3. A method for establishing a digital twin system for autonomous covert operations of an amphibious platform according to claim 1, characterized in that: The following steps are involved: S100, establish a multi-habitat platform dynamics model, including: The motion constraints of the multi-habitat platform, that is, the platform dynamics model is: -m(y G q+z G r)u+m(y G p+w)v+m(z G p-v)w+(J xx p+J zy q+J z r)q-(J yx p+J y q+J yz r)r=K(4) m(x G q-w)u-m(z G r+x G p)v+m(z G q+u)w-(J zx p+J zy q+J z r)p+(J x p+J xy q+J zx r)r=M(5) m(x G r+v)u+m(y G r-u)v-m(y G q+x G p)w+(J yx p+J y q+J yz r)p-(J x p+J xy q+J xz r)q=N(6) Where m represents the mass of the multi-route platform; u, v, w represent the velocity components of the multi-route platform in the x-axis, y-axis, and z-axis respectively; p, q, r represent the angular velocity components of the multi-route platform respectively; J x represents the moment of inertia of the rigid body about the x-axis, J y represents the moment of inertia of the rigid body about the y-axis, J z represents the moment of inertia of the rigid body about the z-axis, J yz 、J yz Represent the inertia product of the rigid body about the y-axis and the z-axis respectively, J xz 、J zx Represent the inertia product of the rigid body about the z-axis and x-axis respectively, J xy 、J yx Represent the inertia product of the rigid body about the x-axis and y-axis respectively, x G 、y G 、z G Respectively represent the coordinates of the center of gravity on the x-axis, y-axis, and z-axis in the hull coordinate system; The dynamic model is expressed in vector form as: Where ν0 represents the velocity vector in the multi-platform coordinate system, ν0 = [uvwpqr] T ; τ RB Represents the vector form of external force and external torque, τ RB =[XYZKMN] T , where X is the longitudinal resultant force, Y is the transverse resultant force, Z is the vertical resultant force, K is the roll resultant moment, M is the pitch resultant moment, and N is the yaw resultant moment; M RB represents the system inertia matrix; C RB (v0)v0 represents the Coriolis force of the multi-habitat platform, which represents the Coriolis force vector term Ω×U and the centripetal force vector term Ω×(Ω×R C );C RB (v0) represents the Coriolis force centripetal matrix of the multi-habitat platform; S200: Use the Unity engine to build a 3D entity model of the multi-habitat platform, an operation target model, a virtual ocean current environment model, and a seabed environment model; S300: Establish digital twin system communication, generate virtual sensor data of the amphibious platform based on the amphibious platform attitude information obtained in step S100, the sonar data acquired by the radar on the amphibious platform, and the amphibious platform three-dimensional entity model, operation target model, virtual ocean current environment model, and seabed environment model obtained in step S200, realize sensor simulation of real ocean environment data, solve the amphibious platform attitude information according to mission requirements, and predict the motion trajectory of the amphibious platform; S400: Using a visual module to display the movement of the multi-habitat platform in three-dimensional space in real time, so that the user can observe the operation process of the platform from multiple angles.

4. The method for establishing a digital twin system for autonomous covert operations of an amphibious platform according to claim 3 is characterized in that: In step S200, it includes: S210: Input the drawings of the multi-habitat platform into the Unity engine to generate a three-dimensional physical appearance model of the multi-habitat platform; S220, generating the real terrain data of the operation area into a height map and importing it into the Unity engine to generate an operation target model; S230. Obtain the original ocean current data set, pre-process the data set using the interpolation method, and establish a mathematical model of the underwater velocity field based on the spatial distribution and temporal variation of the ocean data; establish a fluid mechanics model of the object based on the geometric shape of the object and the underwater velocity field; obtain the distribution of the underwater velocity field by solving the Navier-Stokes equation, describe the conservation of mass of the fluid by the continuity equation, and describe the motion and force of the fluid by the momentum equation. The mathematical model of the underwater velocity field is: υ(x,y,z,t)=(u(x,y,z,t),v(x,y,z,t),w(x,y,z,t)) (8) where υ is the three-dimensional velocity field; u, v, and w are the velocity components in the x, y, and z directions, respectively; The continuity equation is: The momentum equation is: where ρ is the fluid density; p is the pressure; μ is the coefficient of dynamic viscosity; and g is the acceleration due to gravity.

5. The method for establishing a digital twin system for autonomous covert operations of an amphibious platform according to claim 4 is characterized by: In step S300, the UDP protocol is used to define a data structure for data transmission, and the structure data transmission is performed.

6. The method for establishing a digital twin system for autonomous covert operations of an amphibious platform according to claim 5 is characterized in that: In step S400, it includes: receiving the posture information of the multi-terrain platform dynamic model in real time through the digital twin system communication protocol, and displaying the multi-terrain platform operation movement process in real time. After the multi-terrain platform moves to the operation target position, it receives the control signal output by the system, displays and completes the specific operation process on the Unity interface.

7. An operating method of the digital twin system for autonomous covert operations of an amphibious platform according to claim 1, characterized in that: The following steps are involved: S100: Complete parameter settings, communication configuration, and mission planning for the multi-habitat platform in the human-computer interaction module, and after initialization is complete, issue a simulation start command; S200: After the simulation starts, the digital twin system receives communication data, maps the position and attitude status of each amphibious platform in real time, and feeds it back to the visual module to display the navigation picture in real time; S300. When the amphibious platform arrives at the target operation area, the real-time images transmitted by the payload camera of the amphibious platform are controlled by remote commands of the human-computer interaction module to enable the payload of the amphibious platform to perform specific operations according to the mission requirements.

8. The method for operating a digital twin system for autonomous covert operations of an amphibious platform according to claim 7, characterized in that: In step S100, it includes importing the three-dimensional entity model of the multi-functional platform, platform load and operation target, setting the number and parameters of the multi-functional platform, the multi-functional platform dynamic model, the virtual environment parameters, the visual module parameters, the communication ports of each part of the digital twin system and the multi-functional platform task planning.

9. The method for operating a digital twin system for autonomous covert operations of an amphibious platform according to claim 8, characterized in that: In step S300, the user observes the actual movement process of the multi-habitat platform through the multi-perspective conversion provided by the vision module. After the platform arrives at the target operation area, it issues specific work instructions through the human-computer interaction module based on the load camera image. After parsing the data received through communication, the multi-habitat platform controls the load equipment to perform the corresponding operation tasks.

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