A digital twin system for autonomous covert operations of amphibious platforms and its establishment and operation methods

Abstract

The present invention provides a digital twin system for autonomous and concealed operation of amphibious platforms, and its establishment method and operation method, which belong to the field of digital twins. It is designed to solve the problem that the loss during the physical testing of amphibious platforms is large and dangerous situations occur during the testing operation, which affects the concealment and safety of actual operations. It includes an amphibious platform dynamics model establishment module, a virtual ocean environment construction module, a vision module, a human-computer interaction module and a digital twin system simulation module. The virtual ocean environment construction module simulates the real underwater and seabed environment; the human-computer interaction module is responsible for providing users with various interfaces for managing this system; the amphibious platform dynamics model establishment module is used for platform dynamics simulation and prediction of dynamic behavior; the vision module displays the platform underwater operation process in real time after receiving the data of the entity and dynamics model. It has portability and applicability, can truly reflect the platform working process, and verify the effectiveness of the 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 is rich in resources, leading to increased exploration and utilization by countries around the world in recent years. However, due to the complex and harsh underwater environment, neither humans nor most land-based equipment can operate underwater. Autonomous underwater vehicles (AUVs) are widely used in underwater missions due to their high maneuverability, autonomy, and safety. In underwater environments, AUV motion planning depends not only on the AUV's motion characteristics, namely its kinematic and dynamic constraints, but also on environmental factors. In addition to known seabed topography and static obstacles, the complexity and unpredictability of the underwater environment prevents AUVs from obtaining complete environmental information before a mission. The presence of unknown obstacles severely impacts AUV motion planning. Consequently, unmanned underwater vehicles (UUVs) have emerged. They combine the quietness and stealth of underwater robots with the multi-terrain adaptability of unmanned land vehicles, enabling multi-domain operations and navigation capabilities. With superior performance, enhanced operational capabilities, and a higher level of autonomy, they can further expand the scope and operational capabilities of marine robots.

[0003] Digital twin technology is a process of creating a virtual representation of a real-world object, device, or system. A digital twin consists of real-time information from sensor data, simulations, and models of a physical object, 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 shallow-water operations, facing the harsh underwater environment and complex shallow-water terrain, achieving cross-domain operations is an urgent challenge. Platform testing solely through extensive physical testing not only risks equipment wear and high maintenance costs, but also fails to accurately simulate various potential hazards, such as extreme currents and equipment failures. Therefore, simulation and analysis of the operational process is necessary. Building a simulation platform that simulates the physical operational process in real time and predicts its motion can proactively predict equipment wear and potential failures. Operators can conduct operational training and test complex tasks in a virtual environment, becoming familiar with the platform's various operating and control methods, improving operational proficiency and responsiveness, and thus reducing the likelihood of accidents. By simulating different underwater environmental conditions, the adaptability and stability of amphibious platforms in various complex environments can be evaluated. This provides valuable guidance for the practical application of amphibious platforms in covert operations, enabling the identification and resolution of potential problems before mission execution, effectively verifying the performance of amphibious platforms in covert operations, and ensuring the safety and efficiency of field trials. 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 operation of the multi-habitat platform has large losses and dangerous situations may occur during the testing operation, which affects the concealment and safety of the actual operation.

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

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

[0009] 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;

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

[0011] 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.

[0012] 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;

[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 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.

[0014] 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.

[0015] Furthermore, 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.

[0016] The present invention provides a method for establishing a digital twin system for autonomous covert operations of an amphibious platform, 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]

[0023]

[0024]

[0025] in, Represents the quality of a multi-habitat platform; They represent the angular velocity components of the multi-habitat platform respectively; Represents a rigid body pair The moment of inertia of the shaft, ; Represents a rigid body pair The moment of inertia of the shaft, ; Represents a rigid body pair The moment of inertia of the shaft, ; 、 Represents a rigid body pair axis, The moment of inertia of the axis, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ;

[0026] 、 、 Respectively represent the coordinates of the center of gravity on the x-axis, y-axis, and z-axis in the hull coordinate system;

[0027] The dynamic model is expressed in vector form as:

[0028] (7)

[0029] in, represents the velocity vector in the terrestrial platform coordinate system, ; The vector form of external forces and torques, , 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; represents the system inertia matrix; Represents the Coriolis force of the multi-habitat platform, representing the Coriolis force vector term and the centripetal force vector term ; Represents the Coriolis force centripetal matrix of the multi-habitat platform;

[0030] 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;

[0031] 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;

[0032] 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.

[0033] Furthermore, in step S200, it includes:

[0034] 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;

[0035] 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;

[0036] 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.

[0037] The mathematical model of the underwater velocity field is:

[0038] (8)

[0039] in, is the three-dimensional velocity field; 、 and They are 、 and Directional velocity component;

[0040] The continuity equation is:

[0041] (9)

[0042] The momentum equation is:

[0043] (10)

[0044] Among them, is the fluid density; p is the pressure; is the coefficient of dynamic viscosity; g is the acceleration due to gravity;.

[0045] Furthermore, in step S300, the UDP protocol is used to define a data structure for data transmission, and the structure data transmission is performed.

[0046] Furthermore, 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.

[0047] The present invention provides an operating method for a digital twin system for autonomous covert operations of an amphibious platform, comprising the following steps:

[0048] 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;

[0049] 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;

[0050] 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.

[0051] Furthermore, 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.

[0052] Furthermore, 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, 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-habitat platform controls the load equipment to perform the corresponding operation tasks.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 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 possible. Through dynamic simulation, it can effectively analyze the control parameters and motion performance of the platform, providing valuable reference for actual testing and application.

[0055] The present invention uses the same control system as the actual physical platform. Through digital twin system communication, the platform's posture information and interaction instructions can be solved in real time. It has good portability and applicability. Models of different platforms can be quickly connected to the digital twin system for simulation testing, and its application range is wide.

[0056] 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.

[0057] 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

[0058] Figure 1 This is a flow chart of a method for establishing a digital twin system for autonomous covert operations of an amphibious platform in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] 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 used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first," "second," or "third" may explicitly or implicitly include one or more of such features.

[0060] 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.

[0061] Specific implementation plan 1: Combined Figure 1 As shown, the present invention provides a digital twin system based on autonomous covert operation of amphibious platforms, including:

[0062] 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;

[0063] 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;

[0064] 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.

[0065] 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;

[0066] 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.

[0067] 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.

[0068] Specific implementation plan 2: Combined Figure 1 As shown, the present invention provides a method for establishing a digital twin system for autonomous covert operations of an amphibious platform, comprising the following steps:

[0069] S100, establish a multi-habitat platform dynamics model, including:

[0070] In a digital twin system, the motion constraints of an amphibious platform can be described using a motion simulation model. This model is based on the equations of motion based on physical principles and mathematical models and is used to simulate and predict the motion behavior of an amphibious platform under different conditions. A commonly used motion simulation model is based on dynamics principles, which considers the effects of the platform's mass, inertia, forces, and torques on its motion.

[0071] The motion constraints of the multi-habitat platform, that is, the dynamic model of the multi-habitat platform is:

[0072] (1)

[0073] (2)

[0074] (3)

[0075] (4)

[0076] (5)

[0077] (6)

[0078] in, Represents the quality of a multi-habitat platform; Represent the velocity components of the amphibious platform in the x-axis, y-axis and z-axis respectively; p They represent the angular velocity components of the multi-habitat platform respectively; Represents a rigid body, i.e., a multi-habitat platform The moment of inertia of the shaft, ; Represents a rigid body pair The moment of inertia of the shaft, ; Represents a rigid body pair The moment of inertia of the shaft, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ; 、 、 Respectively represent the coordinates of the center of gravity on the x-axis, y-axis, and z-axis in the hull coordinate system;

[0079] The dynamic model can be expressed in vector form as:

[0080] (7)

[0081] in, represents the velocity vector in the terrestrial platform coordinate system, ; The vector form of external forces and torques, , 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; represents the system inertia matrix; Represents the Coriolis force of the multi-habitat platform, representing the Coriolis force vector term and the centripetal force vector term ; Represents the Coriolis force centripetal matrix of the multi-habitat platform;

[0082] The equations of motion 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 modifying and restricting the equations of motion, the motion behavior of the amphibious platform can be ensured to meet the motion constraints. In the digital twin system, it is possible to receive entity data to simulate entity motion while predicting entity motion through solving the dynamic model.

[0083] S200, constructing a three-dimensional entity model of the amphibious platform, an operation target model, a virtual ocean current environment model and a seabed environment model, including:

[0084] S210, using Unity engine, build a 3D entity appearance model of the multi-habitat platform,

[0085] High-precision modeling ensures that the virtual multi-terrestrial platform is highly consistent with the real multi-terrestrial platform entity and its payload in terms of geometry and physical properties. Texture mapping can be used to add surface details to the model, such as metallic texture and paint color. High-resolution texture mapping can also be used to make the surface of the multi-terrestrial platform 3D solid model more realistic. Material properties such as reflection and gloss can also be set to make the model exhibit 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, allowing operators to more intuitively see the appearance of the operation process, thereby better identifying and resolving potential problems.

[0086] The Unity engine includes a water system feature set, providing a ready-made, physically-based water shader designed based on HDRP's latest lighting model. It can also be customized using Shader Graph to adjust the water's surface smoothness, refraction, absorption, diffusion, and light scattering properties. It uses Unity's native Fast Fourier Transform (FFT) to simulate procedural ocean waves, superimposing waves of different frequencies to create complex wave effects, and controlling the frequency range to control the degree of water disturbance.

[0087] The processed ocean data features are added to the generated ocean. The external forces are applied to the 3D coordinate ocean data features of the amphibious platform during its movement, simulating the force conditions of the amphibious platform during underwater movement in a real environment.

[0088] S220, the Unity engine may represent the height of each point on the terrain as a value in a rectangular array. This 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 work area is generated as a height map. 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 work area.

[0089] Add colliders to create better terrain, ensuring the multi-platform platform can achieve correct collision and movement effects on the terrain. Different texture maps can be applied to simulate the surface texture of the seabed to create more realistic landforms.

[0090] S230, for the multi-aquatic platform simulation process, use real ocean current data to simulate ocean currents,

[0091] Simulating the forces on a real underwater amphibious platform is of great significance for simulation experiments. It can increase the authenticity of the simulation and better simulate and deduce the motion state of the amphibious platform.

[0092] This includes obtaining original ocean current data sets and ocean physics data sets (temperature, salinity, depth), preprocessing the data sets, and 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 experienced by the object underwater; using the established fluid mechanics model, various forces experienced by underwater objects in the water flow are calculated, including resistance, pressure, and buoyancy;

[0093] By solving the Navier-Stokes equations, the distribution of the underwater velocity field can be obtained. The continuity equation is used to describe the conservation of mass of the fluid, and the momentum equation is used to describe the motion and force of the fluid.

[0094] The mathematical model of the underwater velocity field is:

[0095] (8)

[0096] in, is the three-dimensional velocity field; 、 and They are 、 and Directional velocity component;

[0097] The continuity equation is:

[0098] (9)

[0099] The momentum equation is:

[0100] (10)

[0101] Among them, is the fluid density; p is the pressure; is the coefficient of dynamic viscosity; g is the acceleration due to gravity;

[0102] Fluid mechanics parameters such as velocity gradient and pressure gradient can be obtained by analytical or numerical solution of the 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.

[0103] 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 and the sonar data obtained by the radar on the amphibious platform, and realize sensor simulation of real ocean environment data, including:

[0104] 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;

[0105] During physical testing of the multi-terrain platform, digital twin system communication can transmit the actual multi-terrain platform's position and posture information, sensor data, control instructions, and status information to the simulation system; the simulation system can simulate and predict its motion based on the real-time multi-terrain platform status to verify and optimize design and control algorithms;

[0106] In the simulation system, 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 control instructions from the simulation system and compare and verify the simulation results with the actual environment;

[0107] The role of digital twin system communication is to achieve real-time data exchange and communication between the physical and simulated systems to ensure the effective connection between physical testing and simulation; provide high-speed, reliable data transmission to ensure real-time and accuracy; at the same time, this communication can also support multiple data formats and protocols to meet the needs of different systems and devices;

[0108] 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 reduces network latency and improves efficiency by packaging multiple structured data into a larger data packet for transmission. The use of a fixed-length data structure can simplify the logic of serialization and deserialization, thereby improving data processing efficiency. The asynchronous method of UdpClient is used to avoid blocking the main thread, thereby improving the responsiveness and performance of the application. The method 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; and applying the extracted posture information to local objects to achieve real-time change effects.

[0109] S400, using the visual module to display the movement of the multi-habitat platform in three-dimensional space in real time, so as to provide multi-angle observation of the multi-habitat platform's operation process, including:

[0110] Visual simulation refers to the use of Unity3D software to create a 3D simulation environment, aiming to provide a visual and interactive experience of a real or fictional environment for the testing of amphibious platforms. The digital twin system communication is used to receive the posture information of the amphibious platform dynamic model in real time, and the amphibious platform operation movement process is displayed in real time in the 3D visual module. After the amphibious platform moves to the target operation position, it receives the control signal output by the system and displays and completes the specific operation process on the Unity interface.

[0111] Adding multi-perspective switching to a scene involves creating and managing multiple cameras and implementing the logic for switching between different cameras; at the same time, adding UI elements so that users can control 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.

[0112] The other combinations and connection relationships of this embodiment are the same as those of the first embodiment.

[0113] Specific implementation plan three: combined Figure 1 As shown, the present invention provides an operating method for a digital twin system for autonomous covert operations of an amphibious platform, comprising the following steps:

[0114] S100: Complete the parameter setting, communication configuration and task planning of the multi-habitat platform in the human-computer interaction module. After the initialization is completed, issue the simulation start command.

[0115] This includes importing the 3D entity models of the multi-aquatic platform, platform load, and operational target, setting the number and parameters of the multi-aquatic platform, the dynamic model of the multi-aquatic 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 multi-aquatic platform;

[0116] The realism of the 3D model is primarily ensured by the model, materials, and lighting. During the construction process, drawings of the general layout and basic structure of the platform were provided. After data processing, these drawings could be imported into 3dsMax modeling software to construct an accurate 3D model. The surface texture of the platform was obtained by photographing the actual object and processing it in Photoshop. Lighting effects were processed using a combination of baked global illumination and real-time local illumination calculation. For models requiring dynamic lighting effects, dynamic local illumination was calculated in real time.

[0117] S200: After the simulation starts, the digital twin system receives communication data, maps the posture status of each amphibious platform in real time, and feeds it back to the visual module to display the navigation picture in real time;

[0118] 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 used, and the remote command of the human-computer interaction module controls the payload of the amphibious platform to perform specific operations according to the mission requirements.

[0119] 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 based on 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.

[0120] The other combinations and connection relationships of this embodiment are the same as those of the first embodiment.

[0121] Although the present invention is disclosed as above, the scope of protection disclosed by the present invention is not limited thereto. Those skilled in the art of the present invention 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 scope of protection 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. 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: ； ； ； ； ； ； in, Represents the quality of a multi-habitat platform; The velocity components of the amphibious platform in the x-axis, y-axis and z-axis; p They represent the angular velocity components of the multi-habitat platform respectively; Represents a rigid body pair The moment of inertia of the shaft, ; Represents a rigid body pair The moment of inertia of the shaft, ; Represents a rigid body pair The moment of inertia of the shaft, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ; 、 Represents a rigid body pair axis, The product of inertia of the axis, ; 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: （7）； in, represents the velocity vector in the terrestrial platform coordinate system, ; The vector form of external forces and torques, , 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; represents the system inertia matrix; Represents the Coriolis force of the multi-habitat platform, representing the Coriolis force vector term and the centripetal force vector term ; 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.

3. The method for establishing a digital twin system for autonomous covert operations of an amphibious platform according to claim 2 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: （8）； in, is the three-dimensional velocity field; 、 and They are 、 and Directional velocity component; The continuity equation is: （9）； The momentum equation is: （10）； Among them, is the fluid density; p is the pressure; is the coefficient of dynamic viscosity; g is the acceleration due to gravity.

4. The method for establishing a digital twin system for autonomous covert operations of an amphibious platform according to claim 3 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.

5. The method for establishing a digital twin system for autonomous covert operations of an amphibious platform according to claim 4 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.

6. A method for operating 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.

7. The method for operating a digital twin system for autonomous covert operations of an amphibious platform according to claim 6, 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.

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 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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