Heterogeneous intelligent simulation system, middleware and data transmission method thereof

Abstract

The invention discloses a heterogeneous intelligent simulation system, middleware and a data transmission method thereof. The data transmission method comprises the steps that at least one piece of state data of at least one joint test resource is collected, and the at least one joint test resource comprises a first joint test resource and a second joint test resource; calculating first data of the first combined test resource through a calculation model, and estimating second data of the second combined test resource through an extrapolation model; if the deviation between the extrapolation model and the calculation model exceeds a first threshold value, third data are transmitted to the second joint test resource, and the third data are data obtained after transmission delay compensation is conducted on the first data.

Description

Technical Field

[0001] The present invention relates to the technical field of simulation experiments, and in particular to a heterogeneous intelligent simulation system, middleware and a data transmission method thereof. Background Art

[0002] Simulation experiments do not have the necessary equipment for experiments in the ordinary sense, but use simulation software on computers to simulate the effects of reality. This article refers to the resources involved in simulation experiments as experimental resources, and the simulation experiments conducted on the same research object using two or more experimental resources are called joint experiments (or joint simulation experiments). Since joint experiments need to connect experimental resources of different types, standards, and regions, the operating environment is more complex and more prone to abnormal situations.

[0003] In other words, the problem of transmission delay is inevitable during the operation of joint tests. In particular, if the transmission delay cannot be compensated in time for joint test projects with a large geographical span, there may be deviations in the results of the joint tests. In serious cases, the joint tests may even be forced to be interrupted. However, in the current market, virtual simulation technologies in the field of simulation experiment technology mostly use event-driven frameworks (or appropriate event scheduling algorithms) to achieve time coordination for heterogeneous simulation systems in order to ensure the synchronization of timing. They ensure the correctness of timing by responding to events in a timely manner, and avoid the impact of transmission delays within a certain range. There are currently two common event-driven frameworks: an event scheduling framework based on First Come First Response (FCFR) (such as Figure 1 ) and the event scheduling algorithm based on static priority (StaticPriority First Response, SPFR) (as shown in Figure 2 As shown), the middleware is called the central node and the joint test resources are called sub-nodes.

[0004] The event scheduling framework of the FCFR is that the sensing events that previously entered the buffer queue in the auxiliary memory are responded to first, wherein the events are arranged in order in the auxiliary memory. The data structure in the auxiliary memory is essentially a queue, which has the natural characteristic of "first in, first out", so the FCFR algorithm can be easily implemented. It can be seen that the event scheduling framework of the FCFR is beneficial to events with long execution time, but not to events with short execution time, that is, the later arriving events (such as joint test simulation tasks) must wait for a long time for scheduling, resulting in poor performance of the entire system in terms of turnaround time and throughput. In the joint test environment, different events have different time limits for waiting for response, and events have their own priorities. The FCFR algorithm cannot take into account the priority of events. For joint test tasks with large throughput, it will cause the problem of events that need to be processed urgently to expire and not respond.

[0005] The event scheduling framework of the SPFR is that events with higher priorities will be responded to first. When each event enters the buffer queue in the auxiliary memory, it will be assigned an integer by the event manager to represent its initial priority. It is worth noting that the value of the initial priority cannot be changed during the execution of the business process application. It can be seen that even if the low-priority event enters the buffer queue of the auxiliary memory earlier than the high-priority event, the event scheduling framework of the SPFR must wait for a long time before entering the buffer queue in the memory. The SPFR algorithm is beneficial to events that are assigned high priorities at the beginning of the test system, but is not conducive to events that are initially assigned low priorities. It will cause low-priority events to not be responded to for a long time, which not only violates the principle of fairness, but also causes the performance of the entire system in terms of turnaround time and throughput to be poor.

[0006] Therefore, for heterogeneous simulation systems that perform military joint simulation tests, how to ensure the synchronization of the timing of the heterogeneous simulation systems while maintaining high turnaround time and high throughput is a technical problem to be solved by the present invention. Summary of the invention

[0007] The purpose of the present invention is to provide a heterogeneous intelligent simulation system, middleware and data transmission method thereof, and to solve the data transmission delay problem of the heterogeneous simulation system performing military joint simulation experiments. The data transmission delay of the test data is compensated based on an improved DR calculation algorithm, so as to better ensure the synchronization of the timing of the heterogeneous simulation system while maintaining a high turnaround time and a large throughput.

[0008] According to one aspect of the present invention, at least one embodiment provides a data transmission method, comprising: collecting at least one status data of at least one joint test resource, wherein the at least one joint test resource includes a first joint test resource and a second joint test resource; inferring the first data of the first joint test resource through an inference model, and estimating the second data of the second joint test resource through an extrapolation model; if the deviation between the extrapolation model and the inference model exceeds a first threshold, transmitting third data to the second joint test resource, wherein the third data is data after transmission delay compensation for the first data.

[0009] According to another aspect of the present invention, at least one embodiment further provides a middleware, comprising: a processor, suitable for implementing various instructions; and a memory, suitable for storing multiple instructions, wherein the instructions are suitable for being loaded and executed by the processor: the data transmission method developed by the present invention.

[0010] According to another aspect of the present invention, at least one embodiment also provides a heterogeneous intelligent simulation system, including: the middleware developed by the present invention and at least one joint test resource, wherein the at least one joint test resource includes a first joint test resource and a second joint test resource, the joint test is a shooting range test, the joint test resource is a ship, the first joint test resource is the current simulated ship in the shooting range test, and the second joint test resource is other simulated ships participating in the communication except the current simulated ship.

[0011] According to another aspect of the present invention, at least one embodiment further provides a computer-readable non-volatile storage medium storing computer program instructions, and when the computer executes the program instructions, it executes: the data transmission method developed by the present invention.

[0012] In the above manner, the present invention uses the extrapolation model of the first joint test resource to extrapolate the first data, and performs transmission delay compensation on the first data to form the third data, and when the extrapolation model of the first joint test resource is significantly different from the extrapolation model, the third data is sent to the second joint test resource, which greatly reduces the amount of information that needs to be interacted between the first joint test resource and the second joint test resource. As a result, no matter which simulation object (or first joint test resource) is scheduled in the present invention, other simulation objects (or second joint test resources) except the currently scheduled simulation object can receive the third data sent by the currently scheduled simulation object for synchronous status update, and other simulation objects can respond in real time before being scheduled, which better realizes the synchronization of timing of heterogeneous intelligent simulation systems while maintaining high turnaround time and high throughput. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a schematic diagram of the event scheduling framework of FCFR in the prior art;

[0015] Figure 2 It is a schematic diagram of the event scheduling framework of SPFR in the prior art;

[0016] Figure 3 is a schematic diagram of a heterogeneous intelligent simulation system according to an embodiment of the present invention;

[0017] Figure 4 is a schematic diagram of middleware according to an embodiment of the present invention;

[0018] Figure 5 is a flow chart of a joint test method according to an embodiment of the present invention;

[0019] Figure 6 is a schematic diagram of joint test resources according to an embodiment of the present invention;

[0020] Figure 7 is a flow chart of a data transmission method according to an embodiment of the present invention;

[0021] Figure 8 It is a schematic diagram of the effect of compensation based on the improved DR estimation algorithm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] Joint experiments often involve experimental resources in different regions and with different structures, and the experimental operation environment is complex. Based on actual needs, the present invention provides a heterogeneous intelligent simulation system in at least one embodiment for the complex and changeable software operation environment of military simulation experiments, such as Figure 3 As shown, it includes: a middleware 100 and at least one joint test resource 200, wherein the at least one joint test resource 200 includes a first joint test resource and a second joint test resource.

[0025] The middleware 100, such as Figure 4 As shown, it includes: a processor 402, suitable for implementing various instructions; and a memory 404, suitable for storing multiple instructions, and the instructions are suitable for being loaded and executed by the processor 402: the data transmission method developed by the present invention (this article will be described in detail later). Specifically, Figure 5 As shown, when simulation experimenters conduct joint experiments, the middleware 100 sequentially performs test resource preparation, test scenario design, test environment construction, test task scheduling (referred to as "event scheduling") and test result analysis, wherein the middleware 100 can be loaded and executed by the processor 402 in the test task scheduling and other links: the data transmission method developed by the present invention.

[0026] The processor 402 may be any applicable processor, such as a central processing unit, a microprocessor, an embedded processor, etc., and may adopt an architecture such as X86 or ARM. The memory 404 may be any applicable storage device, such as a non-volatile storage device, including but not limited to a magnetic storage device, a semiconductor storage device, an optical storage device, etc., and may be arranged as a single storage device, a storage device array, or a distributed storage device, which is not limited in the embodiments of the present invention.

[0027] It will be appreciated by those skilled in the art that the structure of the middleware 100 is merely illustrative and does not limit the structure of the device. Figure 4The transmission device is used to receive or send data via a network. In one embodiment, the transmission device is a radio frequency (RF) module, which is used to communicate with at least one joint test resource 200 wirelessly.

[0028] The at least one joint test resource 200, as a test software tool and / or a test basic device, supports the middleware platform 100, and the test software tool and / or the test basic device constitute a server cluster network. The at least one joint test resource 200 includes a first joint test resource and a second joint test resource. The joint test here can be a military joint simulation test or other simulation test with high communication delay requirements. The military joint simulation test can be a shooting range test, and the other simulation test with high communication delay requirements can be a simulation experiment of application scenarios such as real-time control, virtual reality, and parallel test fields.

[0029] In the range test, the joint test resources are ships, such as Figure 6 As shown, the first joint test resource is the current simulated ship in the range test (such as simulated member A), and the second joint test resource is the other simulated ships participating in the communication except the current simulated ship (such as simulated member B and simulated member C). In simulated member A, there is an accurate model describing its own real state, a calculated model for calculating its own state, and an extrapolated model for estimating its own state, the state of simulated member B and simulated member C; usually, in order to compensate for communication delay, simulated member A does not need to send each updated state to simulated member B and simulated member C through the network. Only when the deviation between the extrapolated model and the calculated model exceeds a certain value, simulated member A will send its own state value to the outside (simulated member B and simulated member C send their own state values ​​to the outside in the same way as simulated member A). It should be noted that, in order to facilitate the description of other simulated ships participating in the communication except the current simulated ship, the present invention only gives the simulated member B and the simulated member C as examples. However, the other simulated ships participating in the communication of the present invention are not limited to the simulated member B and the simulated member C, and can be less (such as simulated member B or simulated member C) or more (such as also including simulated object D, simulated object E, etc.).

[0030] The above-mentioned network includes a wired network and a wireless network. The wireless network includes, but is not limited to, a wide area network, a metropolitan area network, a local area network or a mobile data network. Typically, the mobile data network includes, but is not limited to, a global mobile communication (GSM) network, a code division multiple access (CDMA) network, a wideband code division multiple access (WCDMA) network, a long-term evolution (LTE) communication network, a WIFI network, a ZigBee network, a network based on Bluetooth technology, etc. Different types of communication networks may be operated by different operators. The type of communication network does not constitute a limitation on the embodiments of the present invention.

[0031] Through the above-mentioned method, the present invention greatly reduces the amount of information that needs to be interacted between different simulation objects (different joint test resources), extrapolates and compensates for the data delay transmitted through the network by heterogeneous intelligent simulation systems, and also reduces the communication pressure of the network.

[0032] In the above operating environment, at least one embodiment of the present invention provides a data transmission method, which can also be referred to as a time lag compensation method or a transmission delay compensation method, and can also be referred to as a transmission delay compensation technology applied in military simulation experiments or a test data transmission delay compensation technology based on an improved DR estimation algorithm, which is suitable for being loaded and executed by the processor 402 of the middleware 100 in the event scheduling link, such as Figure 7 It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here. The data transmission method may include the following steps:

[0033] Step S701, collecting at least one state data of at least one joint test resource, wherein the at least one joint test resource includes a first joint test resource and a second joint test resource;

[0034] Step S703, calculating first data of the first joint test resource by using the calculation model, and estimating second data of the second joint test resource by using the extrapolation model;

[0035] Step S705: if the deviation between the extrapolated model and the inferred model exceeds the first threshold, third data is transmitted to the second joint test resource, wherein the third data is data after transmission delay compensation is performed on the first data.

[0036] It should be noted that in the LVC simulation integration of heterogeneous intelligent simulation systems, the transmission of information on the network takes time under any circumstances. The data information received by any node should theoretically belong to the state value of the past. Therefore, communication delay is inevitable and can only be reduced but not eliminated. Therefore, the present invention borrows the dead reckoning DR (Dead Reckoning) algorithm in the field of navigation. "When a ship goes out to sea, it can only reach the predetermined destination if the bow direction remains unchanged and the forward direction is fixed. Therefore, once the actual heading of the ship deviates greatly from the set direction, the heading must be corrected and then continue to move forward along the corrected heading." Two types of state models are constructed: one is the internal state model of the entity itself, which is used to accurately represent the actual movement of the entity; the other is a simple external calculation model. Since the state information can be obtained through the calculation model without being transmitted on the network, it is possible to compensate for the delay of the state data that must be transmitted; in addition, if the required joint test resource state value is not updated in time in the future, the DR algorithm can be used for prediction.

[0037] In the above manner, the present invention uses the extrapolation model of the first joint test resource to extrapolate the first data, and performs transmission delay compensation on the first data to form the third data, and when the extrapolation model of the first joint test resource is significantly different from the extrapolation model, the third data is sent to the second joint test resource, which greatly reduces the amount of information that needs to be interacted between the first joint test resource and the second joint test resource. As a result, no matter which simulation object (or first joint test resource) is scheduled in the present invention, other simulation objects (or second joint test resources) except the currently scheduled simulation object can receive the third data sent by the currently scheduled simulation object for synchronous status update, and other simulation objects can respond in real time before being scheduled, which better realizes the synchronization of timing of heterogeneous intelligent simulation systems while maintaining high turnaround time and high throughput.

[0038] In step S701, at least one state data of at least one joint test resource is collected, wherein the at least one joint test resource includes a first joint test resource and a second joint test resource. In a range test, if the first joint test resource is the current simulated ship in the range test, and the second joint test resource is other simulated ships participating in the communication except the current simulated ship, the position, velocity, acceleration and communication message timestamp of the current simulated ship are collected, and the position, velocity, acceleration and angular velocity of other simulated ships are collected.

[0039] That is to say, the middleware of the present invention collects data such as the position information, speed information, acceleration information, angular velocity information, and communication message timestamp of each simulation object participating in the communication in real time during the military joint simulation test, thereby initializing the state of each simulation object, including information such as position, speed, acceleration, angular velocity, and communication message timestamp.

[0040] In step S703, the first data of the first joint test resource is calculated by the extrapolation model, and the second data of the second joint test resource is estimated by the extrapolation model, wherein the first data is the current position of the current simulated ship, and the second data includes the estimated second positions of other simulated ships and the estimated second attitude angles of other simulated ships. predicted (t) = P t +V t ·(tT msg +1 / 2 A t ·(tT msg 2 ) calculates the current position of the current simulated ship, where P predicted (t) represents the predicted current position of the simulated ship at the current time t, P t represents the position of the current simulated ship at the current time t, V t A represents the collected speed of the current simulated ship at the current time t, t represents the acceleration of the current simulated ship at the current time t, T msg Indicates the message timestamp of the current simulated ship at the current time t; use accelerometer, gyroscope and / or GPS to assist in obtaining P t 、V t , T nsg , A t For example, in the case where the middleware schedules the first joint test resource, Estimate the second position of other simulated ships at the simulation step number n, where: represents the estimated second position of other simulated ships at the simulation step number n, It represents the estimated second position of other simulated ships at the simulation step number 0, h represents the simulation step, Indicates the speed of other simulated ships at simulation step 0, Represents the acceleration of other simulated ships at simulation step 0; Estimate the second attitude angle of other simulated ships at the simulation step number n, where: It represents the estimated second attitude angle of other simulated ships at the simulation step number n, It represents the estimated second attitude angle of other simulated ships at simulation step number 0, ψ and γ represent the yaw angle, pitch angle and roll angle respectively. Represents the angular velocity of other simulated ships at the simulation step of 0; it should be noted that, in order to illustrate that the present invention is not limited to the number of other simulated ships participating in the communication, it is assumed here that other simulated ships include x, y and z, rather than just simulation member B and simulation member C.

[0041] Generally speaking, the order of the extrapolation model is proportional to the accuracy. If you want higher accuracy, you must have a higher order. However, this will increase the difficulty of calculation and the processor overhead. Therefore, the present invention has a compromise, considering both accuracy and overhead. For range tests, there are usually two state values ​​that need to be extrapolated: position information and attitude angle information. In view of the movement of the ship, if the third-order or even higher-order extrapolation formula is used, the processor will inevitably generate a lot of additional overhead. Therefore, as a compromise, the position extrapolation of the present invention usually adopts a second-order recursive formula In view of the fact that the attitude angle extrapolation usually adopts a first-order recursive formula, which can meet the extrapolation accuracy of the attitude angle, the present invention adopts a first-order recursive formula

[0042] That is, the present invention uses an improved DR algorithm to predict the position of the current simulated ship at the communication time t, and uses sensor data (such as accelerometers, gyroscopes, etc.) to assist in position estimation, thereby improving the accuracy and stability of the estimated position of the current simulated ship at the communication time t; at the same time, the present invention takes both accuracy and overhead into consideration, and only uses a second-order recursive formula to extrapolate the positions of other simulated ships in the range test, and uses a first-order recursive formula to extrapolate the attitude angle. If there is a large deviation between the current position of the current simulated ship predicted by the internalization and the current position of the current simulated ship extrapolated, or between the position, velocity, acceleration and angular velocity of other simulated ships collected and the position and attitude angle of other simulated ships extrapolated, transmission compensation is performed.

[0043] In step S705, if the deviation between the extrapolated model and the calculated model exceeds the first threshold, the third data is transmitted to the second joint test resource, wherein the third data is the data after the transmission delay compensation of the first data. For example, if the deviation between the current position of the current simulated ship predicted by the internalization and the current position of the current simulated ship predicted by the extrapolation, or the deviation between the position, velocity, acceleration and angular velocity of other simulated ships collected and the position and attitude angle of other simulated ships predicted by the extrapolation, exceeds the first threshold, based on T msg Calculate the time difference between the current simulated ship sending a message and receiving a message, where the time difference is regarded as the transmission delay Ddelay According to D delay Compensate and adjust other simulated ships to receive P predicted (t) timestamp, where other simulated ships receive P predicted The timestamp of (t) is T recv , according to D delay Compensate and adjust other simulated ships to receive P predicted (t) timestamp is Adjusted Timestamp ,Adjusted Timestamp =T recv +D delay ;Use Adjusted Timestamp P predicted (t) Perform transmission delay compensation to form third data, and transmit the third data to other simulated ships. The third data is P final (t), P final (t) = P predicted (t)+(V t +A t Adjusted Timestamp ); for third party data accuracy and / or D delay Conduct an assessment and modify P based on the results of the assessment final (t) = P predicted (t)+(V t +A t Adjusted Timestamp ) predicted (t) and Adjusted Timestamp .

[0044] In view of the great influence of communication delay on position estimation, the traditional DR algorithm cannot consider the important influencing factor of communication delay, cannot meet the requirements of real-time performance, and has poor effect in terms of the accuracy of data compensation. Therefore, the present invention improves the DR algorithm, not only considering the current position and other information of the simulation object, but also considering the communication delay to make corresponding data transmission delay compensation. The improved DR estimation update formula considers the current position, speed, acceleration and timestamp information of the communication message of the current simulated ship, and adjusts the timestamp of the data received by other simulated ships according to the transmission delay compensation. For example, the transmission delay of the communication message of the current simulated ship is calculated, that is, the time difference between sending the message and receiving the message; according to the transmission delay, the timestamp of the data received by other simulated ships is adjusted, and the position of the received data is adjusted according to the position information predicted by the estimation algorithm; the data after the transmission delay compensation is transmitted to other simulated ships; the transmission results are evaluated, including the evaluation of indicators such as transmission delay and data accuracy, so as to verify the effect of the improved DR algorithm.

[0045] Assume that the current simulated ship is set up on a two-dimensional plane at a speed of 20 nautical miles / h, sailing in a direction 30 degrees north-east for 30 minutes, and then turning to the east while accelerating to 30 nautical miles / h for 30 minutes. Figure 8 As shown, the improved DR inference algorithm based on LSTM of the present invention is used for compensation, the current simulated ship motion state information is inferred, and the current simulated ship motion state information calculated by the middleware is combined, and the model parameters are updated through the set threshold and inference error, so that the compensation for the third data transmission delay is more accurate. In the early stage of simulation, the compensation made by the motion model based on the improved DR algorithm has a certain gap with the actual state. When the simulation time is prolonged, the compensated state is completely consistent with the published real motion state of the simulation entity, and the compensation accuracy is high, meeting the requirements of smoothness, continuity and accuracy.

[0046] The present invention uses the experimental data transmission delay compensation technology of the improved DR algorithm in the military joint simulation test in the above manner. The transmission delay compensation can reduce the error of the communication delay to the position and improve the accuracy of data transmission; by considering the transmission delay, the system's adaptability to changes in communication delay can be improved and the stability of the system can be enhanced; the transmission delay compensation can reduce the cost of data retransmission and error correction caused by communication delay, thereby reducing the communication cost; in complex communication environments (such as high-speed movement, signal interference, etc.), transmission delay compensation can help the system better cope with challenges and cope with complex communication environments; transmission delay compensation based on the improved DR algorithm can ensure the consistency of data during the transmission process and avoid data inconsistency problems caused by communication delays.

[0047] At least one embodiment of the present invention further provides a computer-readable non-volatile storage medium that stores computer program instructions. When the computer executes the program instructions, it executes: the data transmission method developed by the present invention.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A data transmission method, characterized in that: include: Collecting at least one state data of at least one joint test resource, wherein the at least one joint test resource includes a first joint test resource and a second joint test resource; Inferring first data of the first joint test resource by using an inference model, and estimating second data of the second joint test resource by using an extrapolation model; If the deviation between the extrapolation model and the inference model exceeds a first threshold, third data is transmitted to the second joint test resource, wherein the third data is data obtained by performing transmission delay compensation on the first data.

2. The data transmission method according to claim 1, characterized in that: The joint test is a range test, the joint test resource is a ship, the first joint test resource is the current simulated ship in the range test, the second joint test resource is other simulated ships participating in the communication except the current simulated ship, the state data includes position, velocity, acceleration, angular velocity and / or timestamp, and collecting at least one state data of at least one joint test resource includes: Collect the position, velocity, acceleration and communication message timestamp of the current simulated ship, and collect the position, velocity, acceleration and angular velocity of other simulated ships.

3. The data transmission method according to claim 2, characterized in that: The first data is the current position of the current simulated ship calculated, and the first data of the first joint test resource calculated by the calculation model includes: By P predicted (t) = P t +V t ·(tT msg +1 / 2 A t ·(tT msg 2 ) calculates the current position of the current simulated ship, wherein P predicted (t) represents the predicted current position of the simulated ship at the current time t, P t represents the position of the current simulated ship at the current time t, V t A represents the collected speed of the current simulated ship at the current time t, t represents the acceleration of the current simulated ship at the current time t, T msg Indicates the message timestamp of the current simulated ship collected at the current time t.

4. The data transmission method according to claim 3, characterized in that: Use accelerometer, gyroscope and / or GPS to obtain P t 、V t , T msg , A t .

5. The data transmission method according to claim 2, characterized in that: The second data includes the estimated second positions of other simulated ships and the estimated second attitude angles of other simulated ships. Assuming that other simulated ships include x, y and z, the second data of the second joint test resource estimated by the extrapolation model includes: pass Estimate the second position of other simulated ships at the simulation step number n, where: represents the estimated second position of other simulated ships at the simulation step number n, It represents the estimated second position of other simulated ships at the simulation step number 0, h represents the simulation step, Indicates the speed of other simulated ships at simulation step 0, Indicates the acceleration of other simulated ships at simulation step 0; pass Estimate the second attitude angle of other simulated ships at the simulation step number n, where: It represents the estimated second attitude angle of other simulated ships at the simulation step number n, It represents the estimated second attitude angle of other simulated ships at simulation step number 0, Represent the yaw angle, pitch angle and roll angle respectively, Represents the angular velocity of other simulated ships at simulation step 0.

6. The data transmission method according to claim 3, characterized in that: Transmitting third data to the second joint trial resource includes: Based on T msg Calculate the time difference between the current simulated ship sending a message and receiving a message, wherein the time difference is regarded as the transmission delay D delay ; According to D delay Compensate and adjust other simulated ships to receive the P predicted (t) timestamp, where other simulated ships receive the P predicted The timestamp of (t) is T recv , according to D delay Compensate and adjust other simulated ships to receive the P predicted (t) timestamp is Adjusted Timestamp ,Adjusted Timestamp =T recv +D delay ; Use the Adjusted Timestamp For the P predicted (t) performing transmission delay compensation to form third data, and transmitting the third data to the other simulated ships, wherein the third data is P final (t), P final (t) = P predicted (t)+(V t +A t Adjusted Timestamp ).

7. The data transmission method according to claim 6, characterized in that: After transmitting the third data to the second joint trial resource, the method further includes: Third party data accuracy and / or D delay Perform an evaluation and modify P based on the results of the evaluation final (t) = P predicted (t)+(V t +A t Adjusted Timestamp ) predicted (t) and Adjusted Timestamp .

8. A middleware, characterized in that: include: A processor, suitable for implementing each instruction; and a memory, suitable for storing multiple instructions, wherein the instructions are suitable for being loaded and executed by the processor: a data transmission method as described in any one of claims 1-7.

9. A heterogeneous intelligent simulation system, characterized in that: include: The middleware as claimed in claim 8 and at least one joint test resource, wherein the at least one joint test resource includes a first joint test resource and a second joint test resource, the joint test is a shooting range test, the joint test resource is a ship, the first joint test resource is the current simulated ship in the shooting range test, and the second joint test resource is other simulated ships participating in the communication except the current simulated ship.

10. A computer-readable non-volatile storage medium storing computer program instructions, wherein when a computer executes the program instructions, the computer executes: the data transmission method according to any one of claims 1 to 7.

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