Unmanned vehicle cluster simulation system

Abstract

The invention discloses an unmanned vehicle cluster simulation system which comprises a platform layer, a resource layer, an application layer and a standard protocol layer. The application layer comprises a simulation design subsystem, a simulation model design subsystem, a simulation scenario editing subsystem, a simulation operation control subsystem, a simulation situation display subsystem and a simulation performance analysis subsystem.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle simulation, and in particular to an unmanned vehicle cluster simulation system. Background Art

[0002] The unmanned vehicle swarm simulation system mainly realizes the testing, evaluation and training of unmanned vehicle swarms by simulating the operating environment and behavior of unmanned vehicle swarms. Its implementation mainly includes the following aspects:

[0003] 1. Hardware-in-the-loop simulation: The actual vehicle hardware, including vehicle control systems, sensors, actuators, etc., is integrated with the simulation system to achieve real-time vehicle control simulation. This method can simulate the operating status of the vehicle more realistically, but requires a large hardware cost.

[0004] 2. Software-in-the-loop simulation: Use software to simulate the various systems and components of the vehicle to achieve vehicle control simulation. This method is low-cost, but the accuracy of the simulation results is lower than that of hardware-in-the-loop simulation.

[0005] 3. Human-in-the-loop simulation: Add human factors to the simulation system, and let the operator intervene and control the simulation system to simulate the actual human-vehicle interaction environment. This method can test and evaluate the vehicle's ability to cope with complex environments, but it requires a large investment in manpower costs.

[0006] 4. System simulation: Through modeling and simulation of the entire unmanned vehicle cluster system, including simulation of vehicles, environment, communication, control and other aspects, the operation status of the entire cluster can be simulated. This method can comprehensively evaluate the performance of the cluster, but the complexity of modeling and simulation is relatively high. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention aims to provide an unmanned vehicle cluster simulation system.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] An unmanned vehicle cluster simulation system includes an application layer; the application layer includes a simulation design subsystem, a simulation model design subsystem, a simulation scenario editing subsystem, a simulation operation control subsystem, a simulation situation display subsystem and a simulation performance analysis subsystem;

[0010] Simulation design subsystem: including data import module, simulation scheme management module, analysis factor design module and simulation file generation module;

[0011] The data import module is used to load the simulation scenario data required by the user; through the import of simulation scenario data, the user can obtain the analysis factor tree organization structure of the simulation scenario data and generate the design data source file;

[0012] The simulation scheme management module is used to create simulation schemes, open existing simulation scheme files, and save simulation scheme files;

[0013] The analysis factor design module includes the analysis factor selection module and the random factor selection module; the analysis factor selection module is used to select the required analysis factors from the available factors, and can realize the selection and deletion of analysis factors, deletion of all analysis factors, and setting of parameters and level values ​​of analysis factors; the random factor selection module is used to select the required random factors from the available factors, set the random factor levels, and specify the change law of random factors by selecting different distribution laws;

[0014] The simulation file generation module is used to generate simulation scheme files according to the setting data in the analysis factor design module, and provide operation samples for simulation operation;

[0015] Simulation model design subsystem: including component development module and design auxiliary function module; the component development module is used to provide model design tools, support the whole process business activities of component model development, assist in the development of required component models, and support the definition of various models under different requirements; the component development module provides auxiliary development functions of component models and entity models in a graphical modeling manner, provides wizard-style code auxiliary generation functions, and automatically completes the generation of model projects and code frameworks; the component development module also provides data type management functions for use in setting entities and components;

[0016] The auxiliary function module is used to provide model project management functions and manage the attribute information of the model project including name and storage location;

[0017] Simulation scenario editing subsystem: including simulation scenario management module, simulation entity deployment module and simulation scenario auxiliary function module;

[0018] The simulation scenario management module is used to provide an interface between the user and the scenario database, and is used to load simulation scenario data files and check scenario elements;

[0019] The simulation entity deployment module is used to implement simulation entity deployment, entity command relationship setting and entity action plan setting;

[0020] The simulation scenario auxiliary function module is used to provide map management, display configuration, plug-in management and on-map analysis and calculation; map management is used to allow users to zoom in, zoom out, roam and reset the map as needed during the simulation scenario making process; display configuration is used to allow users to set the map visibility configuration of different elements according to usage preferences or the needs of making simulation scenarios; plug-in management is used to realize plug-in loading, parameter configuration and plug-in status management; on-map analysis and calculation is used to realize analysis and calculation including distance, area, slope and line of sight;

[0021] Simulation operation management and control subsystem: including operation planning module, operation control module, operation monitoring module, simulation operation module and data acquisition module;

[0022] The operation planning module is used to implement operation plan management, software package management, cloud management and operation management; the operation plan management function supports users to complete the planning work of simulation plan operation, including plan selection, evaluation indicators, operation mode selection, operation option configuration, Monte Carlo setting, and design file configuration; the software package management function is used to package preset software packages, operation plans, and assumption data, as well as to package preset service packages and tool packages, and to allow users to view or delete the generated package files; the cloud management function includes starting the cloud, cloud task management, upload and download management, and cloud node management; when starting the cloud, the management and control tool can automatically obtain cloud information, or manually establish a cloud connection; through cloud task management, the operation status of the simulation plan on the cloud can be viewed in real time; through upload and download management, local software packages can be directly uploaded to the specified cloud, and the simulation plan operation result data on the cloud can be downloaded to the local; through cloud node management, the cloud can be remotely controlled; the operation management function is used to prepare executable simulation environment data for the cloud, transmit it to the cloud through data transmission services, provide a support environment for the operation of the simulation plan, and drive the operation of cloud tasks; the operation management function includes selecting software packages, distributing software packages, and distributing tasks;

[0023] The operation control module is used to control the operation of the simulation scheme, including starting, starting, pausing, continuing, and stopping the operation;

[0024] The operation monitoring module is used to monitor and control the operation process of the simulation scheme in real time and report errors or failures that occur during the operation;

[0025] The simulation operation module is used to drive the model operation with the simulation engine as the core, schedule the operation and interaction of various models during the simulation scheme operation, and finally complete the simulation;

[0026] The data acquisition module is used to record the data generated during the operation of the simulation scheme;

[0027] Simulation situation display subsystem: supports two-dimensional situation display, three-dimensional situation display, simulation playback control, simulation situation access and situation statistical analysis, and supports digital map operation, display content control, simulation entity information query, terrain information query and calculation;

[0028] The two-dimensional situation display is used to generate various entity action graphic marks of the situation display according to the simulation process data received in real time or the loaded situation playback data; in the offline playback mode, the situation data file is loaded and parsed into the corresponding situation playback data;

[0029] The 3D situation display is used to display and replay the simulation process in real time and perform demonstration management in a 3D virtual environment based on the data collected by the data acquisition module;

[0030] Simulation playback control is used to play back the entire simulation process by loading the situation data file recorded during the simulation program running process. The playback mode supports the start, pause, continue, and speed change of the situation;

[0031] Simulation situation access is used to dynamically access the host of the simulation engine, obtain the simulation data output by the host in real time, and describe the current simulation situation on the map in real time; if the remote host provides support, the operation process can also be intervened through simulation situation access;

[0032] Situation statistics analysis is used to perform operations on digital maps including roaming, zooming, and positioning; to calculate and query terrain data; to query and display simulation entity information during situation display;

[0033] Simulation effectiveness analysis and evaluation subsystem: including evaluation scheme management module, metadata management module, indicator system management module, indicator management module, operator management module, indicator evaluation wizard module and evaluation result display module;

[0034] The evaluation scheme management module is used to select evaluation schemes and to establish, modify and delete evaluation schemes. The information stored in the evaluation schemes mainly includes the evaluation indicator system, evaluation indicators and metadata.

[0035] The metadata management module is used to collect analysis and evaluation data, and import the simulation result data into the analysis and evaluation tool through the collection interface to assist the analysis and evaluation personnel in performing analysis and evaluation work;

[0036] The indicator system management module is used to realize the graphical and visual configuration of the evaluation indicator system, set the indicator weight calculation method of the evaluation indicator system according to the evaluation requirements, and can store, manage, open, close, add, delete and modify the evaluation indicator system in the form of data tables or data files;

[0037] The indicator management module is used to realize the graphical and visual configuration of the indicator model, provide a variety of configurable operators to facilitate the configuration of the indicator model, and provide the operator development interface of the indicator model to facilitate secondary development by users;

[0038] The operator management module is used to implement the storage management of the database of evaluation operators;

[0039] The indicator evaluation wizard module is used to guide users to complete indicator configuration and perform indicator calculation in a wizard manner;

[0040] The evaluation result display module is used to export the evaluation index system and the graphics and / or data generated by the evaluation index to a document.

[0041] Furthermore, after loading the simulation scenario data required by the user, the data import module will display the corresponding assumed analysis factors according to the tree organization structure of the established configuration; the data import module also supports selecting simulation scenario data, creating a tree organization structure with analysis factors as nodes, selecting analysis factor nodes, canceling selected analysis factor nodes, and searching and filtering analysis factors.

[0042] Furthermore, the simulation entity deployment is used to deploy the simulation entity model in the map directly by dragging and dropping in the graphical interface in the scenario editing tool according to the information in the simulation entity action plan, so as to form a simulation situation diagram; the entity command relationship setting is used to set the formation information and entity command relationship; the entity action plan setting is used to set the simulation entity action plan in the scenario editing tool.

[0043] Furthermore, the system also includes a platform layer; the platform layer is oriented towards the application layer, including an operation support platform and a development tool platform, which provides support for the development of each subsystem of the application layer and drives each subsystem of the application layer to operate under a unified framework through operation support services and auxiliary development tools.

[0044] Furthermore, the system also includes a resource layer; the resource layer is oriented towards the platform layer and provides registration, discovery, acquisition, management and use of various resource databases.

[0045] Furthermore, the system also includes a standard protocol layer; the standard protocol layer is used to define standard protocols that need to be followed when constructing data and models, including data standard protocols, model classification standards and modeling standard protocols; wherein the data standard protocols include distributed simulation data standards, encoding standards, assumption data protocols and rule data protocols; the model classification standards include entity classification standards, entity classification standards and action simulation granularity; the modeling standard protocols include model interface protocols and interactive interface protocols.

[0046] The beneficial effects of the present invention are that the functions of the unmanned vehicle cluster simulation system of the present invention are more complete, covering multiple aspects such as simulation design, management and control, and performance analysis, which can improve the authenticity and accuracy of the simulation system, thereby providing more effective and reliable support for the research, development and testing of unmanned vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is an overall architecture diagram of the unmanned vehicle cluster simulation system in an embodiment of the present invention;

[0048] Figure 2 This is an architecture diagram of the simulation design subsystem in an embodiment of the present invention;

[0049] Figure 3 This is an architecture diagram of the simulation operation control subsystem in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further described below in conjunction with the accompanying drawings. It should be noted that this embodiment is based on the technical solution and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to this embodiment.

[0051] This embodiment provides an unmanned vehicle cluster simulation system. Figure 1 As shown, it includes application layer, platform layer, resource layer and standard protocol layer;

[0052] The platform layer is oriented towards the application layer, including the operation support platform and the development tool platform. Through operation support services and auxiliary development tools, it provides support for the development of each subsystem of the application layer and drives each subsystem of the application layer to run under a unified framework;

[0053] The resource layer is oriented towards the platform layer, providing registration, discovery, acquisition, management and use of various resource databases. The resource layer constitutes the basic support of the entire system.

[0054] The standard protocol layer is used to define the standard protocols that need to be followed when constructing data and models, including data standard protocols, model classification standards, and modeling standard protocols. Among them, the data standard protocols include distributed simulation data standards, encoding standards, assumption data protocols, and rule data protocols. The model classification standards include entity classification standards, entity classification standards, and action simulation granularity. The modeling standard protocols include model interface protocols and interactive interface protocols. Through the constraints of standard protocols, a unified spatial coordinate reference system and standard data format definitions are provided for data construction at the resource layer and data applications at the platform layer and application layer.

[0055] The application layer includes a simulation design subsystem, a simulation model design subsystem, a simulation scenario editing subsystem, a simulation operation management and control subsystem, a simulation situation display subsystem and a simulation performance analysis subsystem.

[0056] Simulation design subsystem: used to provide simulation design functions, support the design of the number of levels and analysis methods of factors of various data types, flexibly design simulation factors according to the needs of inspection and evaluation and simulation operation, provide file generation function, and provide quantitative data support for analysis. The design is based on simulation assumptions, comprehensively considers various factors, and designs simulation schemes containing multiple influencing factors. The input of the design is the simulation assumption data output by the simulation assumption editing subsystem, and the output is one or more simulation schemes to provide operation samples for simulation operation.

[0057] like Figure 2 As shown, the simulation design subsystem includes a data import module, a simulation scheme management module, an analysis factor design module and a simulation file generation module;

[0058] The data import module is used to load the simulation scenario data required by the user, and display the corresponding analysis factors of the scenario according to the tree organization structure of the established configuration. The data import module supports the functions of selecting simulation scenario data, creating a tree organization structure with analysis factors as nodes, selecting analysis factor nodes, canceling selected analysis factor nodes, searching and filtering analysis factors, etc. By importing simulation scenario data, users can obtain the tree organization structure of analysis factors of simulation scenario data and generate a design data source file.

[0059] The simulation scheme management module is used to create simulation schemes, open existing simulation scheme files, and save simulation scheme files.

[0060] The analysis factor design module includes the analysis factor selection module and the random factor selection module; the analysis factor selection module is used to select the required analysis factors from the available factors, and can realize the selection and deletion of analysis factors, deletion of all analysis factors, and setting of parameters and level values ​​of analysis factors. By selecting the analysis factor module, users can configure the parameters of the selected analysis factors to obtain the data of the analysis factors and provide data input for the generation of simulation scheme files. The methods for setting the analysis factor levels include relative design, uniform design and free design. The specified number of factor levels are generated by these three methods. The random factor selection module is used to select the required random factors from the available factors, set the random factor levels, and specify the change law of random factors by selecting different distribution laws. The distribution laws of random factors include normal distribution, exponential distribution, Poisson distribution, binomial distribution, and empirical distribution.

[0061] The simulation file generation module is used to generate simulation program files according to the setting data in the analysis factor design module to provide running samples for simulation operation.

[0062] Simulation model design subsystem: including component development module and design auxiliary function module; component development module is used to provide model design tools, support the whole process of component model development business activities, assist in the development of required component models, and support the definition of various models under different requirements, including action entities, mobile components, sensor components, communication equipment components, interference components, damage components, data processing components, mission capability components, behavior tree nodes, target feature components, ammunition components and network components. The component development module provides auxiliary development functions for component models and entity models in a graphical modeling manner, provides wizard-style code auxiliary generation functions, and automatically completes the generation of model projects and code frameworks. The component development module also provides data type management functions for use when setting entities and components. Data types include all basic data types and user-defined data types.

[0063] The auxiliary function module is used to provide model project management functions, manage the name, storage location and other attribute information of the model project, and perform secondary classification of entity templates and behavior templates according to different template types and model application requirements. Template data supports import and export in XML and XModel formats, facilitating multi-terminal data sharing and transfer, providing template quick retrieval function, and flexible configuration of component model tree organization structure and entity template classification method.

[0064] Simulation scenario editing subsystem:

[0065] The simulation scenario editing subsystem is used to provide scenario editing functions, realize visualized batch deployment of simulation entities, flexibly configure entity attribute relationships, and automatically complete simulation plan settings and natural environment settings on electronic nautical charts based on the converted simulation schemes.

[0066] The simulation scenario editing subsystem provides a system model integration framework, including model modeling in the capability domain, personnel domain, simulation domain, resource domain, standard domain, etc. It supports the modeling of simulation system related elements such as simulation scenarios, simulation tasks, simulation capabilities, simulation activities, simulation organizations, simulation systems, simulation resource flows, etc., and supports the correlation analysis of mission objectives, task requirements, simulation capabilities and solutions.

[0067] The simulation scenario editing subsystem includes a simulation scenario management module, a simulation entity deployment module and a simulation scenario auxiliary function module;

[0068] The simulation scenario management module is used to provide an interface between the user and the scenario database in the resource layer, and is used to load simulation scenario data files and check scenario elements. Through the simulation scenario management module, users can complete the maintenance, modification and archiving of new or existing simulation scenario data files, as well as load existing simulation scenario data files and visualize them. The check of scenario elements refers to the check of the integrity and rationality of the scenario elements of the simulation scenario. Prompt information is given for incomplete simulation scenarios to guide users to modify the simulation scenarios.

[0069] The simulation entity deployment module is used to implement simulation entity deployment, entity command relationship setting and entity action plan setting. Simulation entity deployment is used to deploy the simulation entity model in the map by dragging and dropping in the graphical interface in the scenario editing tool according to the information in the simulation entity action plan to form a simulation situation map. Entity command relationship setting is used to set formation information and entity command relationship and other related information. Entity action plan setting is used to set the simulation entity action plan in the scenario editing tool.

[0070] The simulation scenario auxiliary function module is used to provide functions such as map management, display configuration, plug-in management, and on-map analysis and calculation. Map management allows users to zoom in, zoom out, roam, reset, and other operations on the map as needed during the simulation scenario production process. Display configuration allows users to flexibly set the map visibility configuration of different elements according to usage preferences or the needs of making simulation scenarios. Plug-in management is used to load plug-ins, configure parameters, and manage plug-in status (enable / disable). On-map analysis and calculation is used to implement analysis and calculation including distance, area, slope, and line of sight.

[0071] Simulation operation control subsystem: used for simulation program operation control, supports multi-threaded concurrent operation mode, and can automatically plan the number of concurrent threads according to the hardware environment. The simulation operation control subsystem is also used to self-check the entire simulation program, including assumptions, models, evaluation indicators, and evaluation operators, before the simulation program is run, check for missing items and errors, and guide users to improve and modify the simulation program content accordingly.

[0072] The simulation operation control subsystem uses management and control tools to plan the operation strategy of the simulation solution, formulate the operation plan, package the solution data, and complete the distribution of simulation solution operation tasks through the cloud service provided by the system. The management and control tool provides a simple simulation engine operation parameter configuration interface and schedules the simulation engine operation.

[0073] The simulation operation management and control subsystem includes operation planning module, operation control module, operation monitoring module, simulation operation module and data acquisition module.

[0074] The operation planning module is used to implement the functions of operation scheme management, software package management, cloud management and operation management. The operation scheme management function supports users to complete the planning of simulation scheme operation, including scheme selection, evaluation indicators, operation mode selection (single scheme single sample, single scheme multiple samples, multiple schemes multiple samples), operation option configuration, Monte Carlo settings, design file configuration, etc. The software package management function is used to package the preset software packages (model data, engine operation environment, etc.), operation schemes, assumption data and other data, as well as to package the preset service packages and tool packages to meet different needs, and to allow users to view and delete the generated package files. The cloud management function includes starting the cloud, cloud task management, upload and download management, and cloud node management; when starting the cloud, the management and control tool can automatically obtain cloud information, or manually establish a cloud connection; through cloud task management, the operation status of the simulation scheme on the cloud can be viewed in real time; through upload and download management, the local software package can be directly uploaded to the specified cloud, and the simulation scheme operation result data on the cloud can be downloaded to the local; through cloud node management, the cloud can be remotely controlled. The operation management function is used to prepare executable simulation environment data for the cloud, transmit it to the cloud host through the data transmission service, provide a support environment for the simulation solution operation, and drive the cloud task operation. The operation management function includes selecting software packages, distributing software packages, distributing tasks, etc.

[0075] The operation control module is used to control the operation of the simulation program, including starting, starting, pausing, continuing, stopping, etc.

[0076] The operation monitoring module is used to monitor and control the operation process of the simulation solution (simulation engine operation status, hardware load information, etc.) in real time, and report errors or failures that occur during the operation.

[0077] The simulation operation module is used to drive the model operation with the simulation engine as the core, schedule the operation and interaction of various models during the simulation program operation, and finally complete the simulation.

[0078] The data acquisition module is used to record the data generated during the operation of the simulation program, which can be divided into process data, communication process data, and detection process data, and can also be divided into situation data, periodic data, detection data, and track data.

[0079] Simulation situation display subsystem: supports 2D situation display, 3D situation display, simulation playback control, simulation situation access and situation statistical analysis, and supports digital map operation, display content control, simulation entity information query, terrain information query and calculation. The situation display can display the simulation process and simulation situation, and the real-time display and statistical information display can display the information and interaction results of the entity interaction.

[0080] The two-dimensional situation display is used to generate various entity action graphic marks of the situation display according to the simulation process data received in real time or the loaded situation playback data; in the offline playback mode, the situation data file is loaded and parsed into the corresponding situation playback data, and the playback time point and time range can be selected, as well as pause, stop, accelerate, decelerate and other operations.

[0081] The three-dimensional situation display is used to utilize the geographic database, three-dimensional model library, scenario database and other resources in the resource layer. Based on the three-dimensional graphics rendering service and geographic information service, in a three-dimensional virtual environment, the simulation process is displayed and played back in real time according to the data collected by the data acquisition module, and demonstration management is performed.

[0082] Simulation playback control is used to load the situation data file recorded during the simulation program running process and replay the entire simulation process to provide intuitive assistance for analysis. The playback mode supports various situation control methods such as starting, pausing, continuing, and changing speed.

[0083] Simulation situation access is used to dynamically access the host of the simulation engine, obtain the simulation data output by the host in real time, and describe the current simulation situation on the map in real time. If the remote host provides support, simulation situation access can also be used to intervene in the running process, such as adjusting the simulation speed, pausing, continuing, and terminating.

[0084] Situation statistics analysis is used to perform operations on digital maps including roaming, zooming, and positioning; it is used for calculating and querying terrain data, and can flexibly select and customize the displayed elements and display methods; it is used to query and display the simulation entity information during the situation display process, and can control and debug the display content according to the simulation entity type, simulation relationship type, etc.

[0085] Simulation performance analysis and evaluation subsystem: used to establish, modify, and delete simulation evaluation schemes, and manage evaluation index systems, evaluation indicators, metadata, and other information. It supports the graphical evaluation index system construction function, and can flexibly customize the evaluation index system and indicator weight calculation method according to evaluation needs. It also supports the graphical evaluation operator design function, and can flexibly customize the evaluation operator for specific indicators. It has a variety of evaluation result presentation forms, including graphics, lists, etc., and can display multiple schemes, multiple samples, and multiple indicators at the same time.

[0086] Specifically, the simulation effectiveness analysis and evaluation subsystem includes an evaluation scheme management module, a metadata management module, an indicator system management module, an indicator management module, an operator management module, an indicator evaluation wizard module and an evaluation result display module.

[0087] The evaluation scheme management module is used to select, establish, modify and delete evaluation schemes. According to the performance evaluation method, all kinds of evaluation-related information are uniformly collected and sorted, and the evaluation scheme is obtained accordingly. The information stored in the evaluation scheme mainly includes the evaluation indicator system, evaluation indicators and metadata.

[0088] The metadata management module is used to collect analysis and evaluation data. The simulation result data can be imported into the analysis and evaluation tool through the collection interface to assist the analysis and evaluation personnel in performing analysis and evaluation work.

[0089] The indicator system management module is used to realize the graphical and visual configuration of the evaluation indicator system. The indicator weight calculation method of the evaluation indicator system can be set according to the evaluation requirements, and the evaluation indicator system can be stored, managed, opened, closed, added, deleted, modified and edited in the form of data tables or data files.

[0090] The indicator management module is used to realize the graphical and visual configuration of the indicator model, provide a variety of configurable operators to facilitate the configuration of the indicator model, and provide the operator development interface of the indicator model to facilitate user secondary development.

[0091] The operator management module is used to implement the storage management of the operator database. Operators can be classified into object class operators, data source operators and operation class operators. Among them, operation class operators can implement various data algorithms.

[0092] The indicator evaluation wizard module is used to guide users to complete indicator configuration and perform indicator calculation in a wizard manner.

[0093] The evaluation result display module is used to export the indicator system and the graphs and / or data generated by the indicators to word and / or excel documents. When exporting, you can select the export content according to the report content. It supports the format of custom export templates.

[0094] It should be noted that the simulation model includes a simulation entity model, an environment model and an entity model.

[0095] The simulation entity model is based on the analysis of simulation entity elements and adopts a modular modeling method to logically organize the organization, structure, and behavior characteristics of the entity according to the principle of splitting functional attributes or task attributes.

[0096] The simulation entity model includes physical model, behavioral model, auxiliary model and management model.

[0097] The environmental model is used to define various simulation conditions provided by nature, including geographic spatial position, terrain (describing ups and downs), objects (surface cover (vegetation), landforms (surface soil), meteorology, weather, hydrology, etc. Specifically, the geographical environment is a landscape formed by the organic combination of natural elements in space, which has a profound impact on JS activities. According to the needs of smoke screen support operations, the main focus is on the influence and degree of restriction of spatial position, terrain, objects and hydrology on smoke screen support operations. The geographical environment mainly includes landform elevation, object elevation, passability and concealment. The landform elevation is used to describe the ups and downs of the ground, which affects the maneuvering speed and visibility of the simulation unit. The object elevation is used to describe the It describes various fixed objects such as vegetation and buildings on the ground, which mainly affect visibility. Sometimes it can be combined with the landform elevation into one parameter. Trafficability is used to describe the road grade, soil quality, hydrological characteristics, and landform types and vegetation that affect mobility, which mainly affects the mobility speed of the simulation unit. Concealment is used to describe the terrain and objects on the ground that can be used for concealment (ground undulations, ditches, plants, etc.), which affect the size of the visible area of ​​the target, thereby affecting the search, discovery and killing effect of the target. The influence of vegetation on concealment is described by the concealment coefficient a, such as a = 0 when there is no vegetation; a = 0.2 for short bushes; a = 0.5 for tall shrubs and scattered trees; a = 1 for dense forests.

[0098] The entity model is the modeling of the simulated entity in space. By simulating its physical principles, operating procedures, and behavioral codes, it simulates its action capabilities and processes in a three-dimensional virtual environment.

[0099] Specifically, in this embodiment, the three-dimensional modeling process of the unmanned vehicle entity model is as follows:

[0100] (1) Use Maya or 3Dmax modeling software to build a white model of the unmanned vehicle through points, lines, and surfaces, then map the model, and then output the geometric model in FBX format;

[0101] (2) Import the geometric model exported in step (1) into the 0xygen2 3D modeling tool, bind the skeletal animation, add or subtract the collision detection model and physical properties, establish the model layer, and finally generate a 3D model in p3d format;

[0102] (3) Configure the config.cpp file for the 3D model and add its physical performance parameters;

[0103] (4) Configure the model.cfg file for the 3D model and add animation and skeleton configuration;

[0104] (5) Package and generate the models required for the three-dimensional system.

[0105] (6) Import into the model database and display in the model database list.

[0106] In this embodiment, the user can customize the layout of the human-computer interaction interface, customize the software operation mode, and customize the animation construction strategy to meet the user's multi-faceted needs. The user can customize the position and visibility of the human-computer interaction interface layout and menu layout to facilitate user use. The user can also control the software display appearance through custom styles. The configuration files of the human-computer interaction interface layout and menu layout can be backed up and restored to facilitate the migration and reconstruction of the work environment. In addition, the user can customize the various resource databases in the resource layer. The user can connect to the local, same-domain or cross-domain database to read animations and special effects, and support collaborative construction of animation templates. The simulation assumption data created by the user can specify the permission group, and only users with login permissions can access it, thereby improving the security of the system.

[0107] In this embodiment, the user can configure the relevant operation permissions of the logged-in user according to the operation rules corresponding to different seats, and distinguish the corresponding interface, operation, status and other configuration permissions of various seats such as the guidance seat and the observation seat.

[0108] In this embodiment, the user can flexibly configure various assumption-related data according to different simulation schemes, and provide flexible configuration design of the simulation environment, formation grouping, simulation plan, etc.

[0109] In this embodiment, the system is developed based on the general standard C++ programming language, providing a variety of third-party interfaces, plug-in interfaces and complete development documentation, and users can improve or expand related functions by themselves.

[0110] In this embodiment, the DDS data distribution service is adopted and the corresponding dynamic data analysis function is implemented, which provides good support for users to access existing third-party systems. Users can connect the system of this embodiment with related third-party systems to expand functions.

[0111] The system of this embodiment provides multiple external interfaces and can be connected to various existing third-party systems by establishing standard system specifications.

[0112] The simulation support environment of the system in this embodiment adopts componentized modeling technology. The deduction control tools, simulation engines, and models can all be combined as needed. New applications can be realized through expansion components, which greatly saves maintenance costs and enhances the reliability, maintainability, and adaptability of the software.

[0113] It should be noted that the system of this embodiment uses Microsoft's Visual Studio IDE in a Windows environment to develop products based on the well-known C++ graphical user interface application development framework Qt and the well-known open source geographic information system QGIS, adopts DDS data distribution service for data communication between internal programs and external systems, uses PostgreSQL database to store necessary data, and uses PostGIS spatial database to process and store spatial geographic information and perform related geographic information calculations.

[0114] For those skilled in the art, various corresponding changes and modifications can be made according to the above technical solutions and concepts, and all of these changes and modifications should be included in the protection scope of the claims of the present invention.

Claims

1. An unmanned vehicle cluster simulation system, characterized in that: It includes an application layer; the application layer includes a simulation design subsystem, a simulation model design subsystem, a simulation scenario editing subsystem, a simulation operation control subsystem, a simulation situation display subsystem and a simulation effectiveness analysis subsystem; Simulation design subsystem: including data import module, simulation scheme management module, analysis factor design module and simulation file generation module; The data import module is used to load the simulation scenario data required by the user; through the import of simulation scenario data, the user can obtain the analysis factor tree organization structure of the simulation scenario data and generate the design data source file; The simulation scheme management module is used to create simulation schemes, open existing simulation scheme files, and save simulation scheme files; The analysis factor design module includes the selection analysis factor module and the selection random factor module; The analysis factor selection module is used to select the required analysis factors from the available factors, and can realize the selection and deletion of analysis factors, deletion of all analysis factors, and setting of parameters and level values ​​of analysis factors; the random factor selection module is used to select the required random factors from the available factors, set the random factor levels, and specify the change law of random factors by selecting different distribution laws; The simulation file generation module is used to generate simulation scheme files according to the setting data in the analysis factor design module, and provide operation samples for simulation operation; Simulation model design subsystem: including component development module and design auxiliary function module; The component development module is used to provide model design tools, support the full-process business activities of component model development, assist in the development of required component models, and support the definition of various models under different requirements; the component development module provides auxiliary development functions of component models and entity models in a graphical modeling manner, provides wizard-style code auxiliary generation functions, and automatically completes the generation of model projects and code frameworks; the component development module also provides data type management functions for use in setting entities and components; The auxiliary function module is used to provide model project management functions and manage the attribute information of the model project including name and storage location; Simulation scenario editing subsystem: including simulation scenario management module, simulation entity deployment module and simulation scenario auxiliary function module; The simulation scenario management module is used to provide an interface between the user and the scenario database, and is used to load simulation scenario data files and check scenario elements; The simulation entity deployment module is used to implement simulation entity deployment, entity command relationship setting and entity action plan setting; The simulation scenario auxiliary function module is used to provide map management, display configuration, plug-in management and on-map analysis and calculation; map management is used to allow users to zoom in, zoom out, roam and reset the map as needed during the simulation scenario making process; display configuration is used to allow users to set the map visibility configuration of different elements according to usage preferences or the needs of making simulation scenarios; plug-in management is used to realize plug-in loading, parameter configuration and plug-in status management; on-map analysis and calculation is used to realize analysis and calculation including distance, area, slope and line of sight; Simulation operation control subsystem: as shown in Figure 3, it includes operation planning module, operation control module, operation monitoring module, simulation operation module and data acquisition module; The operation planning module is used to implement operation plan management, software package management, cloud management and operation management; the operation plan management function supports users to complete the planning work of simulation plan operation, including plan selection, evaluation indicators, operation mode selection, operation option configuration, Monte Carlo setting, and design file configuration; the software package management function is used to package preset software packages, operation plans, and assumption data, as well as to package preset service packages and tool packages, and to allow users to view or delete the generated package files; the cloud management function includes starting the cloud, cloud task management, upload and download management, and cloud node management; when starting the cloud, the management and control tool can automatically obtain cloud information, or manually establish a cloud connection; through cloud task management, the operation status of the simulation plan on the cloud can be viewed in real time; through upload and download management, local software packages can be directly uploaded to the specified cloud, and the simulation plan operation result data on the cloud can be downloaded to the local; through cloud node management, the cloud can be remotely controlled; the operation management function is used to prepare executable simulation environment data for the cloud, transmit it to the cloud through data transmission services, provide a support environment for the operation of the simulation plan, and drive the operation of cloud tasks; the operation management function includes selecting software packages, distributing software packages, and distributing tasks; The operation control module is used to control the operation of the simulation scheme, including starting, starting, pausing, continuing, and stopping the operation; The operation monitoring module is used to monitor and control the operation process of the simulation scheme in real time and report errors or failures that occur during the operation; The simulation operation module is used to drive the model operation with the simulation engine as the core, schedule the operation and interaction of various models during the simulation scheme operation, and finally complete the simulation; The data acquisition module is used to record the data generated during the operation of the simulation scheme; Simulation situation display subsystem: supports two-dimensional situation display, three-dimensional situation display, simulation playback control, simulation situation access and situation statistical analysis, and supports digital map operation, display content control, simulation entity information query, terrain information query and calculation; The two-dimensional situation display is used to generate various entity action graphic marks of the situation display according to the simulation process data received in real time or the loaded situation playback data; in the offline playback mode, the situation data file is loaded and parsed into the corresponding situation playback data; The 3D situation display is used to display and replay the simulation process in real time and perform demonstration management in a 3D virtual environment based on the data collected by the data acquisition module; Simulation playback control is used to play back the entire simulation process by loading the situation data file recorded during the simulation program running process. The playback mode supports the start, pause, continue, and speed change of the situation; The simulation situation access is used to dynamically access the host of the simulation engine, obtain the simulation data output by the host in real time, and describe the current simulation situation on the map in real time; With support from the remote host, the operation process can be intervened through simulation situation access; Situation statistics analysis is used to perform operations on digital maps including roaming, zooming, and positioning; to calculate and query terrain data; to query and display simulation entity information during situation display; Simulation effectiveness analysis and evaluation subsystem: including evaluation scheme management module, metadata management module, indicator system management module, indicator management module, operator management module, indicator evaluation wizard module and evaluation result display module; The evaluation scheme management module is used to select evaluation schemes and to establish, modify and delete evaluation schemes. The information stored in the evaluation schemes mainly includes the evaluation indicator system, evaluation indicators and metadata. The metadata management module is used to collect analysis and evaluation data, and import the simulation result data into the analysis and evaluation tool through the collection interface to assist the analysis and evaluation personnel in performing analysis and evaluation work; The indicator system management module is used to realize the graphical and visual configuration of the evaluation indicator system, set the indicator weight calculation method of the evaluation indicator system according to the evaluation requirements, and can store, manage, open, close, add, delete and modify the evaluation indicator system in the form of data tables or data files; The indicator management module is used to realize the graphical and visual configuration of the indicator model, provide a variety of configurable operators to facilitate the configuration of the indicator model, and provide the operator development interface of the indicator model to facilitate secondary development by users; The operator management module is used to implement the storage management of the database of evaluation operators; The indicator evaluation wizard module is used to guide users to complete indicator configuration and perform indicator calculation in a wizard manner; The evaluation result display module is used to export the evaluation index system and the graphics and / or data generated by the evaluation index to a document.

2. The system according to claim 1, characterized in that After loading the simulation scenario data required by the user, the data import module will display the corresponding analysis factors of the scenario according to the tree organization structure of the established configuration; the data import module also supports selecting simulation scenario data, creating a tree organization structure with analysis factors as nodes, selecting analysis factor nodes, canceling selected analysis factor nodes, and searching and filtering analysis factors.

3. The system according to claim 1, characterized in that Simulation entity deployment is used to deploy the simulation entity model in the map directly by dragging and dropping in the graphical interface in the scenario editing tool according to the information in the simulation entity action plan, so as to form a simulation situation diagram; entity command relationship setting is used to set formation information and entity command relationship; entity action plan setting is used to set the simulation entity action plan in the scenario editing tool.

4. The unmanned vehicle swarm simulation system according to claim 1, characterized in that: It also includes a platform layer; the platform layer is oriented towards the application layer, including an operation support platform and a development tool platform. Through operation support services and auxiliary development tools, it provides support for the development of each subsystem of the application layer and drives the subsystems of the application layer to run under a unified framework.

5. The unmanned vehicle swarm simulation system according to claim 1, characterized in that: It also includes a resource layer; the resource layer is oriented towards the platform layer and provides registration, discovery, acquisition, management and use of various resource databases.

6. The unmanned vehicle swarm simulation system according to claim 1, characterized in that: Also included is a standard protocol layer; The standard protocol layer is used to define the standard protocols that need to be followed when constructing data and models, including data standard protocols, model classification standards and modeling standard protocols; among them, data standard protocols include distributed simulation data standards, encoding standards, assumption data protocols and rule data protocols; model classification standards include entity classification standards, entity classification standards and action simulation granularity; modeling standard protocols include model interface protocols and interaction interface protocols.

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