Interception cluster collaborative virtual-real combination simulation test system

Abstract

An interception cluster collaborative virtual-real combination simulation test system comprises a digital simulation test platform and a semi-physical simulation device, the semi-physical simulation device is connected with the digital simulation test platform through an optical fiber, and calculation of a dynamics and kinematics simulation model and a guidance control model of an interceptor is completed. The digital simulation test platform completes calculation of dynamics and kinematics simulation models and guidance control models of all digital interceptors in a cluster, and cluster target simulation, simulation general control and data storage and analysis are achieved. Through a digital simulation test platform and a semi-physical simulation device, a cluster digital / semi-physical joint simulation test is carried out, cluster confrontation system coordination under confrontation of multiple targets and multiple interceptors is checked, performance indexes of a guidance control system are checked, and cluster confrontation demonstration verification capability is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft guidance and control systems, and in particular relates to an interception cluster collaborative virtual-real combination simulation test system. Background Art

[0002] In the swarm confrontation anti-UAV swarm multi-target scenario, for multi-target interception and multi-task operations, in order to quickly iterate the collaborative guidance and control technology of multiple interceptors, the guidance and control simulation test verification requirements of complex confrontation conditions, multiple platforms and multiple interceptors are proposed. However, at present, in terms of the technology of guidance and control simulation tests of complex confrontation conditions, multiple platforms and multiple interceptors, there is no effective existing technology that can meet the needs of the above technical problems. In the swarm confrontation anti-UAV swarm multi-target scenario, it is impossible to simulate multi-target interception and multi-task operations. Therefore, in order to quickly iterate the collaborative guidance and control technology of multiple interceptors and realize the simulation of multi-target interception and multi-task operations in the swarm confrontation anti-UAV swarm multi-target scenario, it is very important and urgent to study a technical solution that can verify the guidance and control simulation tests of complex confrontation conditions, multiple platforms and multiple interceptors. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides an interception cluster collaborative virtual-real simulation test system, including: a digital simulation test platform and a semi-physical simulation device. The semi-physical simulation device is connected to the digital simulation test platform through an optical fiber to complete the calculation of the dynamics, kinematics simulation model and guidance and control model of an interceptor. The digital simulation test platform completes the calculation of the dynamics, kinematics simulation model and guidance and control model of all digital interceptors in the cluster, realizing cluster target simulation, simulation master control, and data storage and analysis.

[0004] Furthermore, the digital simulation test platform includes:

[0005] Three-dimensional situation display system module: used to receive and display received interceptor interaction information, launch instructions, target detection information, and display digital simulation test conditions;

[0006] Digital interceptor simulation module: used to obtain the launch command issued by the simulation master control module through the real-time network switch, identify the interceptor type according to the interceptor's launch timing, formation timing rules and leader control logic, run the corresponding interceptor guidance control algorithm, and send the interceptor interaction information to the three-dimensional situation display system module through the real-time network switch;

[0007] Fire control deployment and launch control module: input station information, status information and launcher tracking information to the simulation master control system;

[0008] Simulation master control module: obtains simulation information, including: station information, status information and launcher tracking information from the fire control deployment and launch control module, obtains target information from the target detection and simulation module, and selects the launch command; and transmits the simulation information to the three-dimensional situation display system module and the digital interceptor simulation module through the real-time network switch;

[0009] Target detection and simulation module: including target simulation module and target detection module;

[0010] Wherein, the target simulation module is used to send target information to the target detection module;

[0011] The target detection module is used to receive the target information sent by the target simulation module, and send the target detection information to the three-dimensional situation display system module through the real-time network switch.

[0012] Furthermore, the designated launch channel information includes the launch status, the assigned target batch number, the launch counter, the assigned interceptor vehicle, the assigned interceptor serial number, the interceptor vehicle status, the interceptor seeker status, the interceptor steering gear status, the interceptor in the geodetic coordinate system, and the interceptor vehicle status. X Towards position, interceptor in geodetic coordinate system Y Towards position, interceptor in geodetic coordinate system Z Towards position, interceptor in geodetic coordinate system x Towards velocity, interceptor in geodetic coordinate system y Towards velocity, interceptor in geodetic coordinate system z Towards speed.

[0013] Furthermore, the launch sequence, formation sequence rules and leader control logic of the digital interceptor simulation module are as follows: the interceptor simulation system formations are numbered 1 to n according to the launch sequence, and when all interceptor information with numbers smaller than k obtained within a certain period of time after the launch of the interceptor with number k is abnormal, it will autonomously take over as the key attack interceptor and implement the guidance and control algorithm of the leader interceptor, otherwise it will be used as a common interceptor and implement the guidance and control algorithm of the slave interceptor;

[0014] Wherein, k is any number between 1 and n.

[0015] Furthermore, the interceptor information anomaly includes: unable to obtain, information or device anomaly, and encountered status.

[0016] Furthermore, the digital interceptor simulation module uses interceptor combat data and target information of target simulation to make two decisions to evaluate the target hit effectiveness and target exit mechanism of the interceptor and verify the correctness of the interceptor guidance and control algorithm.

[0017] Furthermore, the two rulings include:

[0018] One-time judgment: The interceptor simulation system uses the miss amount to determine whether the interceptor hits the target during the encounter between the interceptor and the target;

[0019] Secondary judgment: The simulation master control system uses the result of the primary judgment and the matching between the destroyed target and the accused target to judge the validity of the primary judgment.

[0020] Furthermore, the target exit mechanism is that when the secondary judgment is that the hit is valid, the target simulation system exits the target in time and clears the target channel data.

[0021] Further, the semi-physical simulation equipment includes: a steering gear, a central information processor, a seeker simulator, a telemetry data processor, a ground test computer and an interceptor simulation computer;

[0022] The interceptor simulation computer is used to receive the simulation information of the real-time simulation master control module transmitted by the real-time network switch, and process the feedback information of the steering gear control, and transmit it to the central information processor after calculation and processing; the interception simulator outputs its own status information to the three-dimensional situation display system for display via the real-time network switch;

[0023] The central information processor calculates the servo control quantity based on the detection information transmitted by the seeker simulator, the ground initial configuration information and data link data transmitted by the ground test computer, and the input and output switch quantities transmitted by the interceptor simulation computer, and transmits it to the servo and interceptor simulation computer for response.

[0024] Furthermore, the seeker simulator and servo of the semi-physical simulation equipment may be a physical seeker or a digital seeker, a physical servo or a digital servo.

[0025] The beneficial effects of the present invention are as follows: through the design and construction of a digital simulation test platform and semi-physical simulation equipment, a digital / semi-physical joint simulation test is completed in a cluster confrontation scenario, and the coordination of the cluster confrontation system under multi-target and multi-interceptor confrontation is tested, the correctness of the collaborative detection algorithm and the collaborative guidance algorithm is verified, the performance indicators of the guidance and control system are tested, and the cluster confrontation capability is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 2 is a schematic diagram of the structure of an interception cluster collaborative virtual-real combination simulation test system according to an embodiment of the present invention;

[0027] Figure 2 is a block diagram of a digital simulation platform test solution according to an embodiment of the present invention;

[0028] Figure 3 is a block diagram of a digital / semi-physical joint simulation test solution according to an embodiment of the present invention;

[0029] Figure 4 is a visual display diagram of a simulation confrontation test according to an embodiment of the present invention;

[0030] Figure 5 1. It is a diagram showing the interface of a fire control deployment and launch control system module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0032] The embodiment of the present invention provides an interception cluster collaborative virtual-real combined simulation test system. The system can be implemented in a cluster confrontation scenario, through a digital simulation computer combined with semi-physical simulation equipment, including: a servo, a seeker simulator, and a central information processor, to carry out cluster digital / semi-physical joint simulation tests, to test the coordination of the cluster confrontation system under multi-target and multi-interceptor confrontation, to test the performance indicators of the guidance and control system, and to achieve the purpose of improving the cluster confrontation demonstration and verification capability.

[0033] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings.

[0034] Figure 1 A structural schematic diagram of an interception cluster collaborative virtual-reality combined simulation test system is provided, as shown in the figure, comprising: a digital simulation test platform and a semi-physical simulation device. The semi-physical simulation device is connected to the digital simulation test platform through an optical fiber to complete the calculation of the dynamics, kinematics simulation model and guidance and control model of an interceptor. The digital simulation test platform completes the calculation of the dynamics, kinematics simulation model and guidance and control model of all digital interceptors in the cluster, and realizes cluster target simulation, simulation master control, and data storage and analysis.

[0035] In this embodiment, the digital simulation test platform includes:

[0036] 3D situation display system module: used to receive and display interceptor interaction information, launch instructions, target detection information, and display digital simulation test conditions;

[0037] Digital interceptor simulation module: after obtaining the launch command issued by the simulation master control module through the real-time network switch, the interceptor type is judged according to the launch timing of the interceptor, the formation timing rules and the leader control logic, and the corresponding interceptor guidance control algorithm is run, and the interceptor interaction information is sent to the three-dimensional situation display system module through the real-time network switch. The interceptor interaction information includes: data byte length, the first address of the sent data, the number of threats obtained, 1-n# aircraft position launch status, 1-n# aircraft position launch count, total launch count and designated launch channel information. The length of each interceptor interaction information transmission channel is fixed, including reserved information position;

[0038] Fire control deployment and launch control module: input station information, status information and launcher tracking information into the simulation master control system. The interface of the fire control deployment and launch control module is displayed as follows: Figure 5 ;

[0039] Simulation master control module: obtains station information, status information and launcher tracking information from the fire control deployment and launch control module, obtains target information from the target detection and simulation module, selects the launch command, and transmits it to the three-dimensional situation display system module and the digital interceptor simulation module through the real-time network switch;

[0040] Target detection and simulation module: including target simulation module and target detection module;

[0041] The target simulation module is used to send target information to the target detection module, and the target information includes: data byte length, data first address, number of threats / number of targets, target data source, target appearance time, target type, and target location; each target information transmission channel has a fixed length and contains reserved information positions;

[0042] The target detection module is used to receive the target information sent by the target simulation module, and send the target detection information to the three-dimensional situation display system module through the real-time network switch. The target detection information includes: data byte length, the first address of the sent data, the number of threats acquired, the target sending delay, the maximum value of the target position error, and the batch number within the target; the length of each target detection information transmission channel is fixed and contains a reserved information position.

[0043] In this embodiment, the designated launch channel information includes the launch status, the assigned target batch number, the launch counter, the assigned interceptor vehicle, the assigned interceptor serial number, the interceptor vehicle status, the interceptor seeker status, the interceptor steering gear status, the interceptor in the geodetic coordinate system, and the target batch number. X Towards position, interceptor in geodetic coordinate system Y Towards position, interceptor in geodetic coordinate system Z Towards position, interceptor in geodetic coordinate system x Towards velocity, interceptor in geodetic coordinate systemy Towards velocity, interceptor in geodetic coordinate system z Towards speed.

[0044] In this embodiment, the launch timing, formation timing rules and leader control logic of the digital interceptor simulation module are as follows: the interceptor simulation system formations are numbered 1 to n according to the interceptor launch timing. k All the numbers obtained within a certain period of time after the numbered interceptor is launched k When the information of the interceptors with smaller numbers are all abnormal, they will autonomously take over as the key attack interceptor and implement the guidance and control algorithm of the leading interceptor. Otherwise, they will act as ordinary interceptors and implement the guidance and control algorithm of the slave interceptor.

[0045] In this embodiment, the interceptor information anomaly includes: unable to obtain, information or device anomaly, and encountered status.

[0046] In this embodiment, the digital interceptor simulation module uses the interceptor combat data and the target information of the target simulation to make two decisions to evaluate the target hit effectiveness and target exit mechanism of the interceptor and verify the correctness of the interceptor guidance control algorithm.

[0047] In this embodiment, the two decisions include:

[0048] One-time judgment: The interceptor simulation system uses the miss amount to determine whether the interceptor hits the target during the encounter between the interceptor and the target;

[0049] Secondary judgment: The simulation master control system uses the result of the primary judgment and the matching between the destroyed target and the accused target to judge the validity of the primary judgment.

[0050] In this embodiment, the target exit mechanism is that when the secondary judgment is that the hit is valid, the target simulation system exits the target in time and clears the target channel data.

[0051] In this embodiment, the semi-physical simulation equipment includes: a steering gear, a central information processor, a seeker simulator, a telemetry data processor, a ground test computer and an interceptor simulation computer;

[0052] The interceptor simulation computer is used to receive the simulation information of the real-time simulation master control module transmitted by the real-time network switch, and process the feedback information of the steering gear control, and transmit it to the central information processor after calculation and processing; the interception simulator outputs its own status information to the three-dimensional situation display system for display via the real-time network switch;

[0053] The central information processor calculates the servo control quantity based on the detection information transmitted by the seeker simulator, the ground initial configuration information and data link data transmitted by the ground test computer, and the input and output switch quantities transmitted by the interceptor simulation computer, and transmits it to the servo and interceptor simulation computer for response.

[0054] In this embodiment, the seeker simulator and the servo of the semi-physical simulation equipment may be a physical seeker or a digital seeker, a physical servo or a digital servo.

[0055] In this embodiment, each subsystem module of the interception cluster collaborative virtual-real combination simulation test system uses a fixed address as the starting address, and the specific node allocation is shown in Table 1:

[0056] Table 1 Node allocation of simulation test system

[0057]

[0058] The design and construction of the interception cluster collaborative virtual-real combination simulation test system is based on the set cluster counter-UAV multi-target scenario. The composition of the cluster collaborative simulation system is analyzed, the digital simulation test and semi-physical equipment are determined, the digital simulation test platform and the digital / semi-physical joint simulation scheme are sorted out, and the corresponding test scheme block diagram is drawn, such as Figure 2 This is the test scheme diagram of the digital simulation test platform. Figure 3 Provide a block diagram for the digital / semi-physical joint simulation test program, clarify the communication method between simulation test equipment, design the information flow of the interception cluster collaborative virtual-real combined simulation test system, design the launch timing and formation timing rules of the interceptor simulation module, and the leader control logic, and design the interceptor target hit evaluation and target exit mechanism.

[0059] The following items are verified by the simulation test results of the interception cluster collaborative virtual-real combination simulation test system of this embodiment:

[0060] Verify the correctness of the guidance and control software of the onboard information processor;

[0061] Check the working coordination between guidance and control system equipment;

[0062] Check whether the information transmission relationship of the entire control system of the interceptor is correct;

[0063] Verify the flight control system design results and whether the flight control system performance meets the requirements.

[0064] Follow the steps below to complete the anti-cluster confrontation simulation verification. Figure 4 This is a visual display of the cluster collaborative virtual-real combination simulation confrontation test:

[0065] Step 1: Turn on the power of each device and check the semi-physical simulation equipment, digital simulation test platform and the connectivity between them;

[0066] Step 2: Load the cluster guidance control algorithm to be tested into the digital interceptor simulation module;

[0067] Step 3: Set the parameters of the seeker simulator and servo in the semi-physical simulation device. You can choose a physical seeker or a digital seeker; you can choose a physical servo or a digital servo;

[0068] Step 4: Complete the initial parameter setting in the simulation master control system in the digital simulation test platform;

[0069] Step 5: Click "Start". After the simulation is completed, close each device in turn and perform data storage and analysis.

[0070] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An interception cluster collaborative virtual-real combination simulation test system, characterized in that: include: A digital simulation test platform and a semi-physical simulation device. The semi-physical simulation device is connected to the digital simulation test platform through optical fiber to complete the calculation of the dynamics, kinematics simulation model and guidance and control model of an interceptor. The digital simulation test platform completes the calculation of the dynamics, kinematics simulation model and guidance and control model of all digital interceptors in the cluster, realizing cluster target simulation, overall simulation control, and data storage and analysis.

2. The interception cluster collaborative virtual-real combination simulation test system according to claim 1 is characterized in that: The digital simulation test platform comprises: Three-dimensional situation display system module: used to receive and display received interceptor interaction information, launch instructions, target detection information, and display digital simulation test conditions; Digital interceptor simulation module: used to obtain the launch command issued by the simulation master control module through the real-time network switch, identify the interceptor type according to the interceptor's launch timing, formation timing rules and leader control logic, run the corresponding interceptor guidance control algorithm, and send the interceptor interaction information to the three-dimensional situation display system module through the real-time network switch; Fire control deployment and launch control module: input station information, status information and launcher tracking information to the simulation master control system; Simulation master control module: obtains simulation information, including: station information, status information and launcher tracking information from the fire control deployment and launch control module, obtains target information from the target detection and simulation module, and selects the launch command; and transmits the simulation information to the three-dimensional situation display system module and the digital interceptor simulation module through the real-time network switch; Target detection and simulation module: including target simulation module and target detection module; Wherein, the target simulation module is used to send target information to the target detection module; The target detection module is used to receive the target information sent by the target simulation module, and send the target detection information to the three-dimensional situation display system module through the real-time network switch.

3. The interception cluster collaborative virtual-real combination simulation test system as claimed in claim 2 is characterized in that: The designated launch channel information includes the launch status, the assigned target batch number, the launch counter, the assigned interceptor vehicle, the assigned interceptor serial number, the interceptor vehicle status, the interceptor seeker status, the interceptor steering gear status, and the interceptor in the geodetic coordinate system. X Towards position, interceptor in geodetic coordinate system Y Towards position, interceptor in geodetic coordinate system Z Towards position, interceptor in geodetic coordinate system x Towards velocity, interceptor in geodetic coordinate system y Towards velocity, interceptor in geodetic coordinate system z Towards speed.

4. The interception cluster collaborative virtual-real combination simulation test system according to claim 2, characterized in that: The launch sequence, formation sequence rules and leader control logic of the digital interceptor simulation module are as follows: the interceptor simulation system formations are numbered 1 to n according to the launch sequence, and when all interceptor information with numbers smaller than k obtained within a certain period of time after the launch of the interceptor with number k is abnormal, it will autonomously take over as the key attack interceptor and implement the guidance and control algorithm of the leader interceptor, otherwise it will be used as a common interceptor and implement the guidance and control algorithm of the slave interceptor; Wherein, k is any number between 1 and n.

5. The interception cluster collaborative virtual-real combination simulation test system as claimed in claim 4, characterized in that: The interceptor information anomalies include: unable to obtain, information or device anomalies, and encountered status.

6. The interception cluster collaborative virtual-real combination simulation test system according to claim 4, characterized in that: The digital interceptor simulation module uses interceptor combat data and target information of target simulation to make two decisions to evaluate the target hit effectiveness and target exit mechanism of the interceptor and verify the correctness of the interceptor guidance and control algorithm.

7. The interception cluster collaborative virtual-real combination simulation test system according to claim 6, characterized in that: The two rulings include: One-time judgment: The interceptor simulation system uses the miss amount to determine whether the interceptor hits the target during the encounter between the interceptor and the target; Secondary judgment: The simulation master control system uses the result of the primary judgment and the matching between the destroyed target and the accused target to judge the validity of the primary judgment.

8. The interception cluster collaborative virtual-real combination simulation test system according to claim 7, characterized in that: The target exit mechanism is that when the secondary judgment is that the hit is valid, the target simulation system will exit the target in time and clear the target channel data.

9. The interception cluster collaborative virtual-real combination simulation test system according to claim 1, characterized in that: The semi-physical simulation equipment includes: a steering gear, a central information processor, a seeker simulator, a telemetry data processor, a ground test computer and an interceptor simulation computer; The interceptor simulation computer is used to receive the simulation information of the real-time simulation master control module transmitted by the real-time network switch, and process the feedback information of the steering gear control, and transmit it to the central information processor after calculation and processing; the interception simulator outputs its own status information to the three-dimensional situation display system for display via the real-time network switch; The central information processor calculates the servo control quantity based on the detection information transmitted by the seeker simulator, the ground initial configuration information and data link data transmitted by the ground test computer, and the input and output switch quantities transmitted by the interceptor simulation computer, and transmits it to the servo and interceptor simulation computer for response.

10. The interception cluster collaborative virtual-real combination simulation test system according to claim 9, characterized in that: The seeker simulator and the steering gear of the semi-physical simulation equipment can be selected from a physical seeker or a digital seeker, a physical steering gear or a digital steering gear.

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