Pod aiming simulation method and system in army unmanned aerial vehicle simulation system

Abstract

The invention provides a pod aiming simulation method and system in an army unmanned aerial vehicle simulation system. The nacelle aiming simulation method in the army unmanned aerial vehicle simulation system comprises the following steps: acquiring a real-time angle of a nacelle turret by using the control quantity of an operating lever of an unmanned aerial vehicle and the angular rate of the turret; the rotation of the turret is driven in real time by using the longitude and latitude height parameters of the target object and the longitude and latitude height and attitude angle data of the unmanned aerial vehicle; and laser ranging operation is carried out through a dichotomy method, and laser ranging operation is completed. The system comprises modules corresponding to the steps of the method.

Description

Technical Field

[0001] The invention proposes a pod aiming simulation method and system in an army unmanned aerial vehicle simulation system, belonging to the technical field of unmanned aerial vehicle simulation. Background Art

[0002] With the rapid development of modern military technology, drones are increasingly used in army operations, especially in reconnaissance, target positioning and precision strikes. The performance and stability of the pod system mounted on drones, as a key component to achieve these functions, directly affect the execution efficiency and combat effectiveness of drone missions. Therefore, accurate simulation of drone pod targeting systems to improve the combat effectiveness and training level of drones has become an important research direction in the current military technology field.

[0003] In the current UAV simulation system, there are still many shortcomings in the pod aiming simulation, which are mainly reflected in the following aspects: Traditional simulation methods often rely on simple mathematical models and cannot accurately simulate the complex relationship between the UAV joystick control amount and the actual rotation angle of the pod turret, resulting in a large deviation between the simulation results and the actual flight. In a complex and changeable battlefield environment, factors such as the attitude angle, flight altitude and speed of the UAV will significantly affect the accuracy of the pod aiming. Existing simulation systems often ignore the combined influence of these environmental factors, resulting in a lack of authenticity and reliability in the simulation results. As an important part of the pod aiming system, the ranging accuracy of laser ranging directly affects the positioning and strike effect of the target. However, the laser ranging module in the existing simulation system often uses a simplified algorithm, which cannot accurately simulate the various interference factors in the actual ranging process, resulting in the ranging accuracy being difficult to meet actual needs. Summary of the invention

[0004] The present invention provides a pod aiming simulation method and system in an army unmanned aerial vehicle simulation system to solve the above technical problems in the prior art. The technical solutions adopted are as follows:

[0005] A pod aiming simulation method in an army unmanned aerial vehicle simulation system, the pod aiming simulation method in the army unmanned aerial vehicle simulation system comprising:

[0006] The real-time angle of the pod turret is obtained by using the joystick control amount and turret angular rate of the drone;

[0007] The turret rotation is driven in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the drone;

[0008] The laser ranging operation is performed through the binary method to complete the laser ranging operation.

[0009] Furthermore, the real-time angle of the pod turret is obtained by using the joystick control amount of the drone and the turret angle rate, including:

[0010] The joystick control amount and the turret angular velocity are multiplied by a multiplier to obtain the current nacelle turret rotation angular velocity; wherein the joystick control amount ranges from -1 to 1;

[0011] The angular velocity of rotation of the nacelle turret is integrated by an integrator to obtain the real-time angle of the nacelle turret; wherein the initial value of the integrator of the integrator is the initial angle of the turntable.

[0012] Furthermore, the turret rotation is driven in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the drone, including:

[0013] Extract the longitude and latitude parameters of the target object;

[0014] Real-time monitoring of the longitude and latitude parameters and attitude angle parameters of the UAV;

[0015] The relative position of the target object relative to the axis system of the drone is obtained by using the latitude and longitude parameters of the target object, the latitude and longitude parameters of the drone, and the attitude angle parameters of the drone;

[0016] The relative position of the target object relative to the axis system of the drone body is used to obtain the pitch sight angle and the direction sight angle of the target relative to the drone;

[0017] The pitch and azimuth angles of the drone are used to drive the turret to rotate automatically in real time.

[0018] Further, the laser ranging operation is performed by binary division to complete the laser ranging operation, including:

[0019] Draw a distance measurement line in the direction of the turret, and use the DCM rotation matrix and the coordinate system conversion function to obtain the longitude and latitude coordinate position of the end point of the distance measurement line;

[0020] Reading the elevation data corresponding to the longitude and latitude high coordinate position, and using the elevation data corresponding to the longitude and latitude high coordinate position as an elevation data reference value;

[0021] Real-time monitoring of the coordinate altitude of the drone;

[0022] Comparing the coordinate altitude of the UAV with the elevation data reference value to obtain a comparison result;

[0023] When the comparison result indicates that the coordinate altitude is lower than the elevation data reference value, the distance measurement line length is shortened; when the comparison result indicates that the coordinate altitude is higher than the elevation data reference value, the distance measurement line length is lengthened;

[0024] When the difference between the coordinate altitude and the elevation data reference value is lower than a preset acceptable error, the distance measurement calculation is completed;

[0025] When the length of the distance measurement line is greater than the maximum distance measurement range or less than the minimum distance measurement range (MinR), and the height difference is still greater than the acceptable error, the distance measurement value returns to 0, that is, it does not exceed the effective distance measurement range.

[0026] Furthermore, the pod aiming simulation method in the army UAV simulation system further includes:

[0027] Real-time monitoring of the response time data of the control quantity data collection of the joystick control quantity of the UAV; wherein the response time data includes the collection response time of each control quantity data collection, the maximum collection impact time value and the minimum collection response time value;

[0028] The first response time parameter is obtained by using the collection response time of each control quantity data collection, wherein the first response time parameter is obtained by the following formula:

[0029]

[0030] Among them, S 01 represents the first response time parameter; n represents the total number of control quantity data collection; T i T represents the collection response time of the i-th control quantity data collection; c Indicates the maximum collection response time allowed for normal operation of control quantity data collection;

[0031] The second response duration parameter is obtained by using the maximum acquisition impact duration value and the minimum acquisition response duration value, wherein the second response duration parameter is obtained by the following formula:

[0032]

[0033] Among them, S 02 Represents the second response time parameter; T max and T min They represent the maximum collection impact time and the minimum collection response time respectively; T g Indicates the interval between the maximum acquisition impact duration value and the minimum acquisition response duration value; T n Indicates the total time spent on collecting control quantity data;

[0034] A response time evaluation parameter is obtained by using the first response time parameter and the second response time parameter, wherein the response time evaluation parameter is obtained by the following formula:

[0035] S=(1+λ01 ·S 01 +λ 02 ·S 02 )·S0

[0036] Where S represents the response time evaluation parameter; S 01 Indicates the first response time parameter; S 02 represents the second response time parameter; 01 and λ 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula:

[0037]

[0038] Where n represents the total number of control quantity data collection; T i represents the collection response time of the i-th control quantity data collection; w i represents the weight value of the scene where the joystick control amount change corresponding to the i-th joystick control amount data collection occurs;

[0039] and,

[0040]

[0041] Among them, G max Indicates the ratio of the change in the joystick control amount corresponding to the maximum acquisition impact duration value; G min Indicates the ratio of the change in the joystick control amount corresponding to the minimum acquisition impact duration value; w max Indicates the weight value of the scene where the joystick control amount changes corresponding to the maximum acquisition impact duration value; w min Indicates the weight value of the scene where the joystick control amount changes corresponding to the minimum acquisition impact duration value;

[0042] When the response time evaluation parameter exceeds a preset parameter threshold, it is determined that the collection and operation of the joystick control amount is abnormal, and an abnormal alarm is issued.

[0043] A pod aiming simulation system in an army unmanned aerial vehicle simulation system, the pod aiming simulation system in the army unmanned aerial vehicle simulation system comprising:

[0044] The UAV pod turret simulation module is used to obtain the real-time angle of the pod turret using the UAV's joystick control amount and the turret angular rate;

[0045] The pod target tracking simulation module is used to drive the turret rotation in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the UAV;

[0046] Laser ranging positioning module, used to perform laser ranging operation through binary division to complete laser ranging operation;

[0047] The integrated deployment module is used to integrate the UAV pod turret simulation module, the pod target tracking simulation module and the laser ranging and positioning module.

[0048] Furthermore, the UAV pod turret simulation module includes:

[0049] The angular velocity acquisition module is used to multiply the joystick control amount and the turret angular rate through a multiplier to obtain the current nacelle turret rotation angular velocity; wherein the joystick control amount ranges from -1 to 1;

[0050] The nacelle turret real-time angle acquisition module is used to integrate the nacelle turret rotation angular velocity through an integrator to obtain the nacelle turret real-time angle; wherein the integrator initial value of the integrator is the turntable initial angle.

[0051] Furthermore, the pod target tracking simulation module includes:

[0052] A longitude and latitude high parameter extraction module is used to extract longitude and latitude high parameters of the target object;

[0053] UAV parameter real-time monitoring module, used to monitor the UAV latitude and longitude parameters and UAV attitude angle parameters in real time;

[0054] A relative position acquisition module is used to acquire the relative position of the target object relative to the axis system of the drone body by using the latitude, longitude and altitude parameters of the target object, the latitude, longitude and altitude parameters of the drone and the attitude angle parameters of the drone;

[0055] A sight angle data acquisition module is used to acquire the pitch sight angle and direction sight angle of the target relative to the drone using the relative position of the target object relative to the drone body axis system;

[0056] The automatic rotation drive module is used to utilize the pitch sight angle and directional sight angle of the drone to drive the turret to rotate automatically in real time.

[0057] Furthermore, the laser ranging and positioning module comprises:

[0058] A coordinate position acquisition module is used to make a distance measurement line in the direction of the turret, and use the DCM rotation matrix and the coordinate system conversion function to obtain the longitude and latitude coordinate position of the end point of the distance measurement line;

[0059] An elevation data reference value acquisition module is used to read the elevation data corresponding to the longitude and latitude high coordinate position, and use the elevation data corresponding to the longitude and latitude high coordinate position as the elevation data reference value;

[0060] The altitude real-time monitoring module is used to monitor the altitude of the drone coordinates in real time;

[0061] A comparison module, used to compare the coordinate altitude of the UAV with the elevation data reference value to obtain a comparison result;

[0062] A distance measurement line length adjustment module, used for shortening the distance measurement line length when the comparison result indicates that the coordinate altitude is lower than the elevation data reference value, and lengthening the distance measurement line length when the comparison result indicates that the coordinate altitude is higher than the elevation data reference value;

[0063] A distance measurement calculation module, used for completing the distance measurement calculation when the difference between the coordinate altitude and the elevation data reference value is lower than a preset acceptable error;

[0064] The ranging value returning module is used to return the ranging value to 0 when the length of the ranging line is greater than the maximum ranging range or less than the minimum ranging range (MinR) and the height difference is still greater than the acceptable error, that is, the ranging value does not exceed the effective ranging range.

[0065] Furthermore, the pod aiming simulation system in the army UAV simulation system further includes:

[0066] A response time data real-time monitoring module is used to monitor the response time data of the control quantity data collection of the joystick control quantity of the UAV in real time; wherein the response time data includes the collection response time of each control quantity data collection, the maximum collection impact time value and the minimum collection response time value;

[0067] The first response time parameter acquisition module is used to acquire the first response time parameter by using the acquisition response time of each control quantity data acquisition, wherein the first response time parameter is acquired by the following formula:

[0068]

[0069] Among them, S 01 represents the first response time parameter; n represents the total number of control quantity data collection; T i T represents the collection response time of the i-th control quantity data collection; c Indicates the maximum collection response time allowed for normal operation of control quantity data collection;

[0070] The second response duration parameter acquisition module is used to obtain the second response duration parameter using the maximum acquisition impact duration value and the minimum acquisition response duration value, wherein the second response duration parameter is obtained by the following formula:

[0071]

[0072] Among them, S 02 Represents the second response time parameter; T max and T min They represent the maximum collection impact time and the minimum collection response time respectively; T g Indicates the interval between the maximum acquisition impact duration value and the minimum acquisition response duration value; T n Indicates the total time spent on collecting control quantity data;

[0073] A response time evaluation parameter acquisition module is used to acquire a response time evaluation parameter using the first response time parameter and the second response time parameter, wherein the response time evaluation parameter is acquired by the following formula:

[0074] S=(1+λ 01 ·S 01 +λ 02 ·S 02 )·S0

[0075] Where S represents the response time evaluation parameter; S 01 Indicates the first response time parameter; S 02 represents the second response time parameter; 01 and λ 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula:

[0076]

[0077] Where n represents the total number of control quantity data collection; T i represents the collection response time of the i-th control quantity data collection; w i represents the weight value of the scene where the joystick control amount change corresponding to the i-th joystick control amount data collection occurs;

[0078] and,

[0079]

[0080] Among them, G max Indicates the ratio of the change in the joystick control amount corresponding to the maximum acquisition impact duration value; G min Indicates the ratio of the change in the joystick control amount corresponding to the minimum acquisition impact duration value; w max Indicates the weight value of the scene where the joystick control amount changes corresponding to the maximum acquisition impact duration value; w min Indicates the weight value of the scene where the joystick control amount changes corresponding to the minimum acquisition impact duration value;

[0081] Abnormal judgment and alarm are used to judge that there is abnormality in the collection and operation of the joystick control amount when the response time evaluation parameter is lower than the preset parameter threshold, and to issue an abnormal alarm.

[0082] Beneficial effects of the present invention:

[0083] The present invention proposes a pod aiming simulation method and system in an army unmanned aerial vehicle simulation system. By calculating the angle of the pod turret in real time and combining the posture of the unmanned aerial vehicle and the geographical location of the target object, the system can achieve accurate aiming of the target. The laser ranging is performed using the dichotomy method, which optimizes the ranging process and improves the efficiency and accuracy of the ranging. The turret is driven to rotate in real time to ensure that the system can quickly respond to changes in the target object and maintain stable aiming of the pod. The posture, position and geographical location of the target object of the unmanned aerial vehicle are comprehensively considered to make the system have better adaptability and stability in different battlefield environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Figure 1 is a flow chart of the method of the present invention;

[0085] Figure 2 The system block diagram of the system of the present invention. DETAILED DESCRIPTION

[0086] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0087] The embodiment of the present invention provides a pod aiming simulation method in an army unmanned aerial vehicle simulation system, such as Figure 1 As shown, the pod aiming simulation method in the army UAV simulation system includes:

[0088] S1. Use the joystick control amount and the turret angular rate of the drone to obtain the real-time angle of the pod turret;

[0089] S2, using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the UAV to drive the turret rotation in real time;

[0090] S3. Perform laser ranging operation through binary division to complete the laser ranging operation.

[0091] The working principle of the above technical solution is as follows: the joystick control amount and the turret angular rate of the drone are input data. By processing this data, the system is able to calculate the real-time angle of the pod turret. The system uses the latitude and longitude parameters of the target object (i.e., geographic location and altitude) and the latitude and longitude and attitude angle data of the drone. These data are used to calculate and drive the rotation of the turret in real time to ensure that the pod can accurately align with the target object. Use the dichotomy method for optimization. Complete the laser ranging operation to determine the exact distance between the drone and the target object.

[0092] The technical effect of the above technical solution is: by calculating the angle of the pod turret in real time, and combining the posture of the drone and the geographical location of the target object, the system can achieve accurate aiming of the target. The use of binary method for laser ranging optimizes the ranging process and improves the efficiency and accuracy of ranging. The turret is driven to rotate in real time to ensure that the system can quickly respond to changes in the target object and maintain stable aiming of the pod. Comprehensive consideration of the posture, position and geographical location of the drone makes the system more adaptable and stable in different battlefield environments.

[0093] In summary, this technical solution achieves accurate aiming and ranging of the target object by the UAV pod through precise calculation and control, thereby improving the combat effectiveness of the UAV in complex battlefield environments.

[0094] In one embodiment of the present invention, the real-time angle of the pod turret is obtained by using the joystick control amount and the turret angular rate of the drone, including:

[0095] S101, multiplying the joystick control amount and the turret angular velocity by a multiplier to obtain the current nacelle turret rotation angular velocity; wherein the joystick control amount ranges from -1 to 1;

[0096] S102, integrating the angular velocity of rotation of the nacelle turret through an integrator to obtain a real-time angle of the nacelle turret; wherein an initial value of the integrator of the integrator is an initial angle of the turntable.

[0097] The working principle of the above technical solution is: the control amount of the joystick (ranging from -1 to 1) is multiplied by the angular velocity of the turret itself through a multiplier. The joystick control amount here represents the rotation direction and speed intention that the user wants to impose on the pod turret through the joystick, while the turret angular velocity reflects the current rotation speed of the turret itself. The result of multiplying the two is the current angular velocity of rotation of the pod turret under the control of the joystick. The multiplier here plays the role of combining the user's intention (joystick control amount) with the current state of the turret (angular velocity), thereby calculating the angular velocity of rotation of the turret under the combined effect.

[0098] The angular velocity of the turret rotation obtained in the step is integrated by an integrator. Integration is a method of expressing cumulative effects in mathematics. By integrating the angular velocity, the angular change of the turret can be accumulated. The initial value of the integrator is set to the initial angle of the turntable. This means that the integral calculation starts from the initial position of the turntable, so the final integral result will reflect the cumulative angle change of the turret from the initial position to the current position, that is, the real-time angle of the turret.

[0099] The technical effect of the above technical solution is: by calculating the rotation angular velocity and cumulative angle changes of the pod turret in real time, the system can accurately control the direction of the pod and improve the aiming accuracy. The direct multiplication of the joystick control amount and the turret angular rate and the subsequent integral calculation are all performed in real time, so the system can quickly respond to the user's operating intention and realize the rapid pointing adjustment of the pod. The application of the integrator enables the system to accumulate the angle change of the turret, so as to obtain accurate real-time angle information. This cumulative effect helps to reduce the angle fluctuations caused by instantaneous interference or errors and improve the stability of the system. The range of the joystick control amount is set between -1 and 1, which provides users with sufficient control range to flexibly adjust the direction of the pod. At the same time, the introduction of the turret angular rate also enables the system to comprehensively consider the rotation state of the turret itself to achieve more precise and flexible control.

[0100] In summary, this technical solution achieves precise control and rapid response to the real-time angle of the UAV pod turret through the application of multipliers and integrators, thereby improving the control accuracy, stability and flexibility of the system.

[0101] In one embodiment of the present invention, the turret is driven to rotate in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the drone, including:

[0102] S201, extracting the longitude and latitude parameters of the target object;

[0103] S202, real-time monitoring of the longitude and latitude parameters and attitude angle parameters of the UAV;

[0104] S203, using the latitude and longitude parameters of the target object, the latitude and longitude parameters of the drone, and the attitude angle parameters of the drone to obtain the relative position of the target object relative to the axis system of the drone body;

[0105] S204, using the relative position of the target object relative to the axis system of the drone body to obtain the pitch sight angle and the direction sight angle of the target relative to the drone;

[0106] S205, using the pitch sight angle and directional sight angle of the UAV to drive the turret to rotate automatically in real time.

[0107] The working principle of the above technical solution is as follows: This step involves obtaining the geographic location information of the target object, including longitude, latitude and altitude, from an external data source (such as a ground control system, GPS data, or other target positioning means). The current geographic location (latitude and longitude) and attitude angle information (such as pitch angle, roll angle, yaw angle) of the drone are obtained in real time through the GPS module and other airborne sensors (such as an inertial measurement unit IMU) on the drone. This information is crucial for determining the relative position between the drone and the target object. Using the data of the above scheme, the latitude and longitude parameters of the target object are converted into the body axis system centered on the drone through coordinate transformation and geometric calculation, thereby obtaining the relative position information of the target object relative to the drone. The relative position information obtained in the above scheme is further calculated to obtain the pitch sight angle (i.e., the vertical angle required for the drone to observe the target) and the direction sight angle (i.e., the horizontal angle required for the drone to observe the target) of the target object relative to the drone. The pitch sight angle and direction sight angle calculated in the above scheme are converted into control signals to drive the pod turret on the drone to rotate in real time, so that the camera or sensor in the pod can accurately aim at the target object.

[0108] The technical effect of the above technical solution is: through real-time calculation and coordinate transformation, the system can accurately determine the position of the target object relative to the UAV, and drive the pod turret to rotate accordingly, so as to achieve high-precision target aiming. This technical solution realizes the automatic drive control of the pod turret, reduces the need for manual intervention, and improves the autonomous operation capability of the UAV. Through real-time monitoring and rapid calculation, the system can quickly respond to the position changes of the target object, adjust the direction of the pod in real time, and ensure continuous tracking and monitoring of the target. This technical solution does not rely on external fixed facilities or complex environmental models, has strong battlefield adaptability and flexibility, and can work effectively in a variety of complex environments.

[0109] In summary, this technical solution realizes high-precision automatic aiming and tracking of the target object by the UAV pod turret through precise calculation and real-time control, thereby improving the combat effectiveness and autonomous operation capability of the UAV.

[0110] An embodiment of the present invention performs a laser ranging operation by binary division to complete the laser ranging operation, including:

[0111] S301, draw a distance measurement line in the direction of the turret, and use the DCM rotation matrix and the coordinate system conversion function to obtain the longitude and latitude coordinate position of the end point of the distance measurement line;

[0112] S302, reading the elevation data corresponding to the longitude and latitude high coordinate position, and using the elevation data corresponding to the longitude and latitude high coordinate position as an elevation data reference value;

[0113] S303, real-time monitoring of the coordinate altitude of the UAV;

[0114] S304, comparing the coordinate altitude of the UAV with the elevation data reference value to obtain a comparison result;

[0115] S305, when the comparison result indicates that the coordinate altitude is lower than the elevation data reference value, shortening the distance measurement line length; when the comparison result indicates that the coordinate altitude is higher than the elevation data reference value, lengthening the distance measurement line length;

[0116] S306, when the difference between the coordinate altitude and the elevation data reference value is lower than a preset acceptable error, the distance measurement calculation is completed;

[0117] S307: When the length of the distance measurement line is greater than the maximum distance measurement range or less than the minimum distance measurement range (MinR), and the height difference is still greater than the acceptable error, the distance measurement value returns to 0, that is, it does not exceed the effective distance measurement range.

[0118] The working principle of the above technical solution is: make a ranging line in the direction of the turret, and this line represents the initial path of the laser ranging. Use the direction cosine matrix (DCM) rotation matrix and the coordinate system conversion function to convert the end point of the ranging line from the current local coordinate system of the drone to the global coordinate system (such as WGS-84) to obtain its longitude and latitude high coordinate position. The above technical solution is to ensure that the benchmark for ranging is globally unified for subsequent processing. The elevation data corresponding to the longitude and latitude high coordinate position obtained in the above technical solution. Elevation data usually comes from a digital elevation model (DEM) or other elevation database, representing the altitude of the geographical location. The read elevation data is used as a reference value for elevation data for subsequent comparison with the altitude of the drone.

[0119] Real-time monitoring of the coordinate altitude of the drone, which is usually achieved through the GPS module or other altitude measurement sensors on the drone. Compare the coordinate altitude of the drone with the elevation data reference value to determine the relative height difference between the current position of the drone and the target position (the end point of the ranging line). According to the result of the height comparison, the length of the ranging line is dynamically adjusted. If the altitude of the drone is lower than the elevation data reference value, it means that the ranging line is too long and needs to be shortened; conversely, if the altitude of the drone is higher than the elevation data reference value, the ranging line needs to be lengthened. This process is achieved through dichotomy, that is, the length of the ranging line is continuously halved (or adjusted at a certain ratio) until a suitable length is found so that the difference between the altitude of the drone and the elevation data reference value meets certain conditions.

[0120] When the difference between the coordinate altitude of the drone and the reference value of the elevation data is lower than the preset acceptable error, the distance measurement calculation is considered completed, and the length of the distance measurement line is the required distance. If the length of the distance measurement line exceeds the maximum distance measurement range or is less than the minimum distance measurement range (MinR) during the adjustment of the distance measurement line length, and the height difference is still greater than the acceptable error, the distance measurement is considered to have failed, and the distance measurement value returns to 0.

[0121] The technical effect of the above technical solution is: by continuously adjusting the length of the ranging line through the dichotomy method and combining it with the elevation data for comparison, the accuracy of laser ranging can be significantly improved. This technical solution does not rely on a single height measurement method, but combines the real-time altitude of the drone and the elevation data in the elevation database to enhance its adaptability in different terrains and environments. The application of the dichotomy method makes the ranging process more efficient and can quickly converge to a ranging result that meets the accuracy requirements. By setting parameters such as the maximum ranging range, the minimum ranging range and the acceptable error, this technical solution can effectively handle abnormal situations in the ranging process, such as exceeding the effective ranging range.

[0122] In summary, this technical solution achieves high accuracy and efficiency of laser ranging through the dichotomy and height comparison methods, while enhancing adaptability and exception handling capabilities.

[0123] In one embodiment of the present invention, the pod aiming simulation method in the army unmanned aerial vehicle simulation system further includes:

[0124] Step 1: real-time monitoring of the response time data of the control quantity data collection of the joystick control quantity of the UAV; wherein the response time data includes the collection response time of each control quantity data collection, the maximum collection impact time value and the minimum collection response time value;

[0125] Step 2: Obtain a first response duration parameter using the acquisition response duration of each control quantity data acquisition, wherein the first response duration parameter is obtained by the following formula:

[0126]

[0127] Among them, S 01 represents the first response time parameter; n represents the total number of control quantity data collection; T i T represents the collection response time of the i-th control quantity data collection; c Indicates the maximum collection response time allowed for normal operation of control quantity data collection;

[0128] Step 3: Obtain a second response duration parameter using the maximum acquisition impact duration value and the minimum acquisition response duration value, wherein the second response duration parameter is obtained by the following formula:

[0129]

[0130] Among them, S 02 Represents the second response time parameter; T max and T min They represent the maximum collection impact time and the minimum collection response time respectively; T g Indicates the interval between the maximum acquisition impact duration value and the minimum acquisition response duration value; T n Indicates the total time spent on collecting control quantity data;

[0131] Step 4: Use the first response time parameter and the second response time parameter to obtain a response time evaluation parameter, wherein the response time evaluation parameter is obtained by the following formula:

[0132] S=(1+λ 01 ·S 01 +λ 02 ·S 02 )·S0

[0133] Where S represents the response time evaluation parameter; S 01 Indicates the first response time parameter; S 02 represents the second response time parameter; 01 and λ 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula:

[0134]

[0135] Where n represents the total number of control quantity data collection; T i represents the collection response time of the i-th control quantity data collection; w i represents the weight value of the scene where the joystick control amount change corresponding to the i-th joystick control amount data collection occurs;

[0136] and,

[0137]

[0138] Among them, G max Indicates the ratio of the change in the joystick control amount corresponding to the maximum acquisition impact duration value; G min Indicates the ratio of the change in the joystick control amount corresponding to the minimum acquisition impact duration value; w max Indicates the weight value of the scene where the joystick control amount changes corresponding to the maximum acquisition impact duration value; w min Indicates the weight value of the scene where the joystick control amount changes corresponding to the minimum acquisition impact duration value;

[0139] Step 5: When the response time evaluation parameter exceeds a preset parameter threshold, it is determined that the collection and operation of the joystick control amount is abnormal, and an abnormal alarm is issued.

[0140] The working principle of the above technical solution is as follows: This step records the response time of each control quantity data collection by real-time monitoring of the joystick control quantity of the drone. This includes the collection response time, the maximum collection response time value and the minimum collection response time value. These data provide a basis for subsequent analysis. Through the given formula, the first response time parameter (S01) is calculated using the collection response time (Ti) of each control quantity data collection and the maximum collection response time (Tc) allowed for normal operation of the control quantity data collection. This parameter reflects the overall response efficiency of the control quantity data collection. The second response time parameter (S02) is calculated by the formula using the maximum collection impact time value (Tmax), the minimum collection response time value (Tmin), the interval time between the two (Tg) and the total time of the control quantity data collection (Tn). This parameter further analyzes the fluctuation of the collection response time. In this step, the first response time parameter (S01) and the second response time parameter (S02) are combined, and the first coefficient (λ01) and the second coefficient (λ02) are introduced to calculate the response time evaluation parameter (S) by the formula. These two coefficients are determined by considering the control amount change ratio corresponding to each joystick control amount data collection and the weight value of the scene in which it is located, making the evaluation more comprehensive and accurate. When the calculated response time evaluation parameter (S) exceeds the preset parameter threshold, the system determines that there is an abnormality in the collection and operation of the joystick control amount and triggers an abnormality alarm. This helps to detect and deal with problems in a timely manner and ensure the stable operation of the drone.

[0141] The technical effect of the above technical solution is: by real-time monitoring and evaluation of the response time of the acquisition of the joystick control quantity, potential abnormalities can be discovered in time to avoid system instability or failure caused by it. The technical solution provides detailed response time analysis indicators, which helps to quickly locate the cause of the problem and improve the accuracy and efficiency of fault diagnosis. Through the abnormal alarm mechanism, users can understand the operating status of the drone in a timely manner to avoid the user experience being affected by abnormal joystick control. Combining weight values ​​and coefficients for comprehensive evaluation enables the system to more intelligently judge the acquisition of the joystick control quantity, providing a basis for subsequent optimization and improvement.

[0142] In summary, this technical solution effectively improves the stability and fault diagnosis capability of the UAV system through real-time monitoring, data analysis, and anomaly determination, while optimizing the user experience and system intelligence level.

[0143] The embodiment of the present invention provides a pod aiming simulation system in an army unmanned aerial vehicle simulation system, such as Figure 2 As shown, the pod aiming simulation system in the army UAV simulation system includes:

[0144] The UAV pod turret simulation module is used to obtain the real-time angle of the pod turret using the UAV's joystick control amount and the turret angular rate;

[0145] The pod target tracking simulation module is used to drive the turret rotation in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the UAV;

[0146] Laser ranging positioning module, used to perform laser ranging operation through binary division to complete laser ranging operation;

[0147] The integrated deployment module is used to integrate the UAV pod turret simulation module, the pod target tracking simulation module and the laser ranging and positioning module.

[0148] The working principle of the above technical solution is as follows: the joystick control amount and the turret angular rate of the drone are input data. By processing this data, the system is able to calculate the real-time angle of the pod turret. The system uses the latitude and longitude parameters of the target object (i.e., geographic location and altitude) and the latitude and longitude and attitude angle data of the drone. These data are used to calculate and drive the rotation of the turret in real time to ensure that the pod can accurately align with the target object. Use the dichotomy method for optimization. Complete the laser ranging operation to determine the exact distance between the drone and the target object.

[0149] The technical effect of the above technical solution is: by calculating the angle of the pod turret in real time, and combining the posture of the drone and the geographical location of the target object, the system can achieve accurate aiming of the target. The use of binary method for laser ranging optimizes the ranging process and improves the efficiency and accuracy of ranging. The turret is driven to rotate in real time to ensure that the system can quickly respond to changes in the target object and maintain stable aiming of the pod. Comprehensive consideration of the posture, position and geographical location of the drone makes the system more adaptable and stable in different battlefield environments.

[0150] In summary, this technical solution achieves accurate aiming and ranging of the target object by the UAV pod through precise calculation and control, thereby improving the combat effectiveness of the UAV in complex battlefield environments.

[0151] In one embodiment of the present invention, the drone pod turret simulation module comprises:

[0152] The angular velocity acquisition module is used to multiply the joystick control amount and the turret angular rate through a multiplier to obtain the current nacelle turret rotation angular velocity; wherein the joystick control amount ranges from -1 to 1;

[0153] The nacelle turret real-time angle acquisition module is used to integrate the nacelle turret rotation angular velocity through an integrator to obtain the nacelle turret real-time angle; wherein the integrator initial value of the integrator is the turntable initial angle.

[0154] The working principle of the above technical solution is: the control amount of the joystick (ranging from -1 to 1) is multiplied by the angular velocity of the turret itself through a multiplier. The joystick control amount here represents the rotation direction and speed intention that the user wants to impose on the pod turret through the joystick, while the turret angular velocity reflects the current rotation speed of the turret itself. The result of multiplying the two is the current angular velocity of rotation of the pod turret under the control of the joystick. The multiplier here plays the role of combining the user's intention (joystick control amount) with the current state of the turret (angular velocity), thereby calculating the angular velocity of rotation of the turret under the combined effect.

[0155] The angular velocity of the turret rotation obtained in the step is integrated by an integrator. Integration is a method of expressing cumulative effects in mathematics. By integrating the angular velocity, the angular change of the turret can be accumulated. The initial value of the integrator is set to the initial angle of the turntable. This means that the integral calculation starts from the initial position of the turntable, so the final integral result will reflect the cumulative angle change of the turret from the initial position to the current position, that is, the real-time angle of the turret.

[0156] The technical effect of the above technical solution is: by calculating the rotation angular velocity and cumulative angle changes of the pod turret in real time, the system can accurately control the direction of the pod and improve the aiming accuracy. The direct multiplication of the joystick control amount and the turret angular rate and the subsequent integral calculation are all performed in real time, so the system can quickly respond to the user's operating intention and realize the rapid pointing adjustment of the pod. The application of the integrator enables the system to accumulate the angle change of the turret, so as to obtain accurate real-time angle information. This cumulative effect helps to reduce the angle fluctuations caused by instantaneous interference or errors and improve the stability of the system. The range of the joystick control amount is set between -1 and 1, which provides users with sufficient control range to flexibly adjust the direction of the pod. At the same time, the introduction of the turret angular rate also enables the system to comprehensively consider the rotation state of the turret itself to achieve more precise and flexible control.

[0157] In summary, this technical solution achieves precise control and rapid response to the real-time angle of the UAV pod turret through the application of multipliers and integrators, thereby improving the control accuracy, stability and flexibility of the system.

[0158] In one embodiment of the present invention, the pod target tracking simulation module includes:

[0159] A longitude and latitude high parameter extraction module is used to extract longitude and latitude high parameters of the target object;

[0160] UAV parameter real-time monitoring module, used to monitor the UAV latitude and longitude parameters and UAV attitude angle parameters in real time;

[0161] A relative position acquisition module is used to acquire the relative position of the target object relative to the axis system of the drone body by using the latitude, longitude and altitude parameters of the target object, the latitude, longitude and altitude parameters of the drone and the attitude angle parameters of the drone;

[0162] A sight angle data acquisition module is used to acquire the pitch sight angle and direction sight angle of the target relative to the drone using the relative position of the target object relative to the drone body axis system;

[0163] The automatic rotation drive module is used to utilize the pitch sight angle and directional sight angle of the drone to drive the turret to rotate automatically in real time.

[0164] The working principle of the above technical solution is as follows: This step involves obtaining the geographic location information of the target object, including longitude, latitude and altitude, from an external data source (such as a ground control system, GPS data, or other target positioning means). The current geographic location (latitude and longitude) and attitude angle information (such as pitch angle, roll angle, yaw angle) of the drone are obtained in real time through the GPS module and other airborne sensors (such as an inertial measurement unit IMU) on the drone. This information is crucial for determining the relative position between the drone and the target object. Using the data of the above scheme, the latitude and longitude parameters of the target object are converted into the body axis system centered on the drone through coordinate transformation and geometric calculation, thereby obtaining the relative position information of the target object relative to the drone. The relative position information obtained in the above scheme is further calculated to obtain the pitch sight angle (i.e., the vertical angle required for the drone to observe the target) and the direction sight angle (i.e., the horizontal angle required for the drone to observe the target) of the target object relative to the drone. The pitch sight angle and direction sight angle calculated in the above scheme are converted into control signals to drive the pod turret on the drone to rotate in real time, so that the camera or sensor in the pod can accurately aim at the target object.

[0165] The technical effect of the above technical solution is: through real-time calculation and coordinate transformation, the system can accurately determine the position of the target object relative to the UAV, and drive the pod turret to rotate accordingly, so as to achieve high-precision target aiming. This technical solution realizes the automatic drive control of the pod turret, reduces the need for manual intervention, and improves the autonomous operation capability of the UAV. Through real-time monitoring and rapid calculation, the system can quickly respond to the position changes of the target object, adjust the direction of the pod in real time, and ensure continuous tracking and monitoring of the target. This technical solution does not rely on external fixed facilities or complex environmental models, has strong battlefield adaptability and flexibility, and can work effectively in a variety of complex environments.

[0166] In summary, this technical solution realizes high-precision automatic aiming and tracking of the target object by the UAV pod turret through precise calculation and real-time control, thereby improving the combat effectiveness and autonomous operation capability of the UAV.

[0167] In one embodiment of the present invention, the laser ranging and positioning module comprises:

[0168] A coordinate position acquisition module is used to make a distance measurement line in the direction of the turret, and use the DCM rotation matrix and the coordinate system conversion function to obtain the longitude and latitude coordinate position of the end point of the distance measurement line;

[0169] An elevation data reference value acquisition module is used to read the elevation data corresponding to the longitude and latitude high coordinate position, and use the elevation data corresponding to the longitude and latitude high coordinate position as the elevation data reference value;

[0170] The altitude real-time monitoring module is used to monitor the altitude of the drone coordinates in real time;

[0171] A comparison module, used to compare the coordinate altitude of the UAV with the elevation data reference value to obtain a comparison result;

[0172] A distance measurement line length adjustment module, used for shortening the distance measurement line length when the comparison result indicates that the coordinate altitude is lower than the elevation data reference value, and lengthening the distance measurement line length when the comparison result indicates that the coordinate altitude is higher than the elevation data reference value;

[0173] A distance measurement calculation module, used for completing the distance measurement calculation when the difference between the coordinate altitude and the elevation data reference value is lower than a preset acceptable error;

[0174] The ranging value returning module is used to return the ranging value to 0 when the length of the ranging line is greater than the maximum ranging range or less than the minimum ranging range (MinR) and the height difference is still greater than the acceptable error, that is, the ranging value does not exceed the effective ranging range.

[0175] The working principle of the above technical solution is: make a ranging line in the direction of the turret, and this line represents the initial path of the laser ranging. Use the direction cosine matrix (DCM) rotation matrix and the coordinate system conversion function to convert the end point of the ranging line from the current local coordinate system of the drone to the global coordinate system (such as WGS-84) to obtain its longitude and latitude high coordinate position. The above technical solution is to ensure that the benchmark for ranging is globally unified for subsequent processing. The elevation data corresponding to the longitude and latitude high coordinate position obtained in the above technical solution. Elevation data usually comes from a digital elevation model (DEM) or other elevation database, representing the altitude of the geographical location. The read elevation data is used as a reference value for elevation data for subsequent comparison with the altitude of the drone.

[0176] Real-time monitoring of the coordinate altitude of the drone, which is usually achieved through the GPS module or other altitude measurement sensors on the drone. Compare the coordinate altitude of the drone with the elevation data reference value to determine the relative height difference between the current position of the drone and the target position (the end point of the ranging line). According to the result of the height comparison, the length of the ranging line is dynamically adjusted. If the altitude of the drone is lower than the elevation data reference value, it means that the ranging line is too long and needs to be shortened; conversely, if the altitude of the drone is higher than the elevation data reference value, the ranging line needs to be lengthened. This process is achieved through dichotomy, that is, the length of the ranging line is continuously halved (or adjusted at a certain ratio) until a suitable length is found so that the difference between the altitude of the drone and the elevation data reference value meets certain conditions.

[0177] When the difference between the coordinate altitude of the drone and the reference value of the elevation data is lower than the preset acceptable error, the distance measurement calculation is considered completed, and the length of the distance measurement line is the required distance. If the length of the distance measurement line exceeds the maximum distance measurement range or is less than the minimum distance measurement range (MinR) during the adjustment of the distance measurement line length, and the height difference is still greater than the acceptable error, the distance measurement is considered to have failed, and the distance measurement value returns to 0.

[0178] The technical effect of the above technical solution is: by continuously adjusting the length of the ranging line through the dichotomy method and combining it with the elevation data for comparison, the accuracy of laser ranging can be significantly improved. This technical solution does not rely on a single height measurement method, but combines the real-time altitude of the drone and the elevation data in the elevation database to enhance its adaptability in different terrains and environments. The application of the dichotomy method makes the ranging process more efficient and can quickly converge to a ranging result that meets the accuracy requirements. By setting parameters such as the maximum ranging range, the minimum ranging range and the acceptable error, this technical solution can effectively handle abnormal situations in the ranging process, such as exceeding the effective ranging range.

[0179] In summary, this technical solution achieves high accuracy and efficiency of laser ranging through the dichotomy and height comparison methods, while enhancing adaptability and exception handling capabilities.

[0180] In one embodiment of the present invention, the pod aiming simulation system in the army unmanned aerial vehicle simulation system further comprises:

[0181] A response time data real-time monitoring module is used to monitor the response time data of the control quantity data collection of the joystick control quantity of the UAV in real time; wherein the response time data includes the collection response time of each control quantity data collection, the maximum collection impact time value and the minimum collection response time value;

[0182] The first response time parameter acquisition module is used to acquire the first response time parameter by using the acquisition response time of each control quantity data acquisition, wherein the first response time parameter is acquired by the following formula:

[0183]

[0184] Among them, S 01 represents the first response time parameter; n represents the total number of control quantity data collection; T i T represents the collection response time of the i-th control quantity data collection; c Indicates the maximum collection response time allowed for normal operation of control quantity data collection;

[0185] The second response duration parameter acquisition module is used to obtain the second response duration parameter using the maximum acquisition impact duration value and the minimum acquisition response duration value, wherein the second response duration parameter is obtained by the following formula:

[0186]

[0187] Among them, S 02 Represents the second response time parameter; T max and T min They represent the maximum collection impact time and the minimum collection response time respectively; T g Indicates the interval between the maximum acquisition impact duration value and the minimum acquisition response duration value; T n Indicates the total time spent on collecting control quantity data;

[0188] A response time evaluation parameter acquisition module is used to acquire a response time evaluation parameter using the first response time parameter and the second response time parameter, wherein the response time evaluation parameter is acquired by the following formula:

[0189] S=(1+λ 01 ·S 01 +λ02 ·S 02 )·S0

[0190] Where S represents the response time evaluation parameter; S 01 Indicates the first response time parameter; S 02 represents the second response time parameter; 01 and λ 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula:

[0191]

[0192] Where n represents the total number of control quantity data collection; T i represents the collection response time of the i-th control quantity data collection; w i represents the weight value of the scene where the joystick control amount change corresponding to the i-th joystick control amount data collection occurs;

[0193] and,

[0194]

[0195] Among them, G max Indicates the ratio of the change in the joystick control amount corresponding to the maximum acquisition impact duration value; G min Indicates the ratio of the change in the joystick control amount corresponding to the minimum acquisition impact duration value; w max Indicates the weight value of the scene where the joystick control amount changes corresponding to the maximum acquisition impact duration value; w min Indicates the weight value of the scene where the joystick control amount changes corresponding to the minimum acquisition impact duration value;

[0196] Abnormal judgment and alarm are used to judge that there is abnormality in the collection and operation of the joystick control amount when the response time evaluation parameter is lower than the preset parameter threshold, and to issue an abnormal alarm.

[0197] The working principle of the above technical solution is as follows: This step records the response time of each control quantity data collection by real-time monitoring of the joystick control quantity of the drone. This includes the collection response time, the maximum collection response time value and the minimum collection response time value. These data provide a basis for subsequent analysis. Through the given formula, the first response time parameter (S01) is calculated using the collection response time (Ti) of each control quantity data collection and the maximum collection response time (Tc) allowed for normal operation of the control quantity data collection. This parameter reflects the overall response efficiency of the control quantity data collection. The second response time parameter (S02) is calculated by the formula using the maximum collection impact time value (Tmax), the minimum collection response time value (Tmin), the interval time between the two (Tg) and the total time of the control quantity data collection (Tn). This parameter further analyzes the fluctuation of the collection response time. In this step, the first response time parameter (S01) and the second response time parameter (S02) are combined, and the first coefficient (λ01) and the second coefficient (λ02) are introduced to calculate the response time evaluation parameter (S) by the formula. These two coefficients are determined by considering the control amount change ratio corresponding to each joystick control amount data collection and the weight value of the scene in which it is located, making the evaluation more comprehensive and accurate. When the calculated response time evaluation parameter (S) exceeds the preset parameter threshold, the system determines that there is an abnormality in the collection and operation of the joystick control amount and triggers an abnormality alarm. This helps to detect and deal with problems in a timely manner and ensure the stable operation of the drone.

[0198] The technical effect of the above technical solution is: by real-time monitoring and evaluation of the response time of the acquisition of the joystick control quantity, potential abnormalities can be discovered in time to avoid system instability or failure caused by it. The technical solution provides detailed response time analysis indicators, which helps to quickly locate the cause of the problem and improve the accuracy and efficiency of fault diagnosis. Through the abnormal alarm mechanism, users can understand the operating status of the drone in a timely manner to avoid the user experience being affected by abnormal joystick control. Combining weight values ​​and coefficients for comprehensive evaluation enables the system to more intelligently judge the acquisition of the joystick control quantity, providing a basis for subsequent optimization and improvement.

[0199] In summary, this technical solution effectively improves the stability and fault diagnosis capability of the UAV system through real-time monitoring, data analysis, and anomaly determination, while optimizing the user experience and system intelligence level.

[0200] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A pod aiming simulation method in an army unmanned aerial vehicle simulation system, characterized in that: The pod aiming simulation method in the army unmanned aerial vehicle simulation system comprises: The real-time angle of the pod turret is obtained by using the joystick control amount and turret angular rate of the drone; The turret rotation is driven in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the drone; The laser ranging operation is performed through the binary method to complete the laser ranging operation.

2. The pod aiming simulation method in the army UAV simulation system according to claim 1 is characterized in that: The real-time angle of the pod turret is obtained by using the joystick control amount and the turret angle rate of the drone, including: The joystick control amount and the turret angular velocity are multiplied by a multiplier to obtain the current nacelle turret rotation angular velocity; wherein the joystick control amount ranges from -1 to 1; The angular velocity of rotation of the nacelle turret is integrated by an integrator to obtain the real-time angle of the nacelle turret; wherein the initial value of the integrator of the integrator is the initial angle of the turntable.

3. The pod aiming simulation method in the army UAV simulation system according to claim 1 is characterized in that: The turret rotation is driven in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the drone, including: Extract the longitude and latitude parameters of the target object; Real-time monitoring of the longitude and latitude parameters and attitude angle parameters of the UAV; The relative position of the target object relative to the axis system of the drone is obtained by using the latitude and longitude parameters of the target object, the latitude and longitude parameters of the drone, and the attitude angle parameters of the drone; The relative position of the target object relative to the axis system of the drone body is used to obtain the pitch sight angle and the direction sight angle of the target relative to the drone; The pitch and azimuth angles of the drone are used to drive the turret to rotate automatically in real time.

4. The pod aiming simulation method in the army UAV simulation system according to claim 1 is characterized in that: The laser ranging operation is performed by binary division to complete the laser ranging operation, including: Draw a distance measurement line in the direction of the turret, and use the DCM rotation matrix and the coordinate system conversion function to obtain the longitude and latitude coordinate position of the end point of the distance measurement line; Reading the elevation data corresponding to the longitude and latitude high coordinate position, and using the elevation data corresponding to the longitude and latitude high coordinate position as an elevation data reference value; Real-time monitoring of the coordinate altitude of the drone; Comparing the coordinate altitude of the UAV with the elevation data reference value to obtain a comparison result; When the comparison result indicates that the coordinate altitude is lower than the elevation data reference value, the distance measurement line length is shortened; when the comparison result indicates that the coordinate altitude is higher than the elevation data reference value, the distance measurement line length is lengthened; When the difference between the coordinate altitude and the elevation data reference value is lower than a preset acceptable error, the distance measurement calculation is completed; When the length of the distance measurement line is greater than the maximum distance measurement range or less than the minimum distance measurement range (MinR), and the height difference is still greater than the acceptable error, the distance measurement value returns to 0, that is, it does not exceed the effective distance measurement range.

5. The pod aiming simulation method in the army UAV simulation system according to claim 1 is characterized in that: The pod aiming simulation method in the army unmanned aerial vehicle simulation system also includes: Real-time monitoring of the response time data of the control quantity data collection of the joystick control quantity of the UAV; wherein the response time data includes the collection response time of each control quantity data collection, the maximum collection impact time value and the minimum collection response time value; The first response time parameter is obtained by using the collection response time of each control quantity data collection, wherein the first response time parameter is obtained by the following formula: Among them, S 01 represents the first response time parameter; n represents the total number of control quantity data collection; T i T represents the collection response time of the i-th control quantity data collection; c Indicates the maximum collection response time allowed for normal operation of control quantity data collection; The second response duration parameter is obtained by using the maximum acquisition impact duration value and the minimum acquisition response duration value, wherein the second response duration parameter is obtained by the following formula: Among them, S 02 Represents the second response time parameter; T max and T min They represent the maximum collection impact time and the minimum collection response time respectively; T g Indicates the interval between the maximum acquisition impact duration value and the minimum acquisition response duration value; T n Indicates the total time spent on collecting control quantity data; A response time evaluation parameter is obtained by using the first response time parameter and the second response time parameter, wherein the response time evaluation parameter is obtained by the following formula: S=(1+λ 01 ·S 01 +λ 02 ·S 02 )·S0 Where S represents the response time evaluation parameter; S 01 Indicates the first response time parameter; S 02 represents the second response time parameter; 01 and λ 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula: Where n represents the total number of control quantity data collection; T i represents the collection response time of the i-th control quantity data collection; w i represents the weight value of the scene where the joystick control amount change corresponding to the i-th joystick control amount data collection occurs; and, Among them, G max Indicates the ratio of the change in the joystick control amount corresponding to the maximum acquisition impact duration value; G min Indicates the ratio of the change in the joystick control amount corresponding to the minimum acquisition impact duration value; w max Indicates the weight value of the scene where the joystick control amount changes corresponding to the maximum acquisition impact duration value; w min Indicates the weight value of the scene where the joystick control amount changes corresponding to the minimum acquisition impact duration value; When the response time evaluation parameter exceeds a preset parameter threshold, it is determined that the collection and operation of the joystick control amount is abnormal, and an abnormal alarm is issued.

6. A pod aiming simulation system in an army UAV simulation system, characterized in that: The pod aiming simulation system in the army UAV simulation system includes: The UAV pod turret simulation module is used to obtain the real-time angle of the pod turret using the UAV's joystick control amount and the turret angular rate; The pod target tracking simulation module is used to drive the turret rotation in real time using the latitude and longitude parameters of the target object and the latitude and longitude and attitude angle data of the UAV; Laser ranging positioning module, used to perform laser ranging operation through binary division to complete laser ranging operation; The integrated deployment module is used to integrate the UAV pod turret simulation module, the pod target tracking simulation module and the laser ranging and positioning module.

7. The pod aiming simulation system in the army UAV simulation system according to claim 6 is characterized in that: The UAV pod turret simulation module includes: The angular velocity acquisition module is used to multiply the joystick control amount and the turret angular rate through a multiplier to obtain the current nacelle turret rotation angular velocity; wherein the joystick control amount ranges from -1 to 1; The nacelle turret real-time angle acquisition module is used to integrate the nacelle turret rotation angular velocity through an integrator to obtain the nacelle turret real-time angle; wherein the integrator initial value of the integrator is the turntable initial angle.

8. The pod aiming simulation system in the army UAV simulation system according to claim 6 is characterized in that: The pod target tracking simulation module includes: A longitude and latitude high parameter extraction module is used to extract longitude and latitude high parameters of the target object; UAV parameter real-time monitoring module, used to monitor the UAV latitude and longitude parameters and UAV attitude angle parameters in real time; A relative position acquisition module is used to acquire the relative position of the target object relative to the axis system of the drone body by using the latitude, longitude and altitude parameters of the target object, the latitude, longitude and altitude parameters of the drone and the attitude angle parameters of the drone; A sight angle data acquisition module is used to acquire the pitch sight angle and direction sight angle of the target relative to the drone using the relative position of the target object relative to the drone body axis system; The automatic rotation drive module is used to utilize the pitch sight angle and directional sight angle of the drone to drive the turret to rotate automatically in real time.

9. The pod aiming simulation system in the army UAV simulation system according to claim 6 is characterized in that: The laser ranging and positioning module comprises: A coordinate position acquisition module is used to make a distance measurement line in the direction of the turret, and use the DCM rotation matrix and the coordinate system conversion function to obtain the longitude and latitude coordinate position of the end point of the distance measurement line; An elevation data reference value acquisition module is used to read the elevation data corresponding to the longitude and latitude high coordinate position, and use the elevation data corresponding to the longitude and latitude high coordinate position as the elevation data reference value; The altitude real-time monitoring module is used to monitor the altitude of the drone coordinates in real time; A comparison module, used to compare the coordinate altitude of the UAV with the elevation data reference value to obtain a comparison result; A distance measurement line length adjustment module, used for shortening the distance measurement line length when the comparison result indicates that the coordinate altitude is lower than the elevation data reference value, and lengthening the distance measurement line length when the comparison result indicates that the coordinate altitude is higher than the elevation data reference value; A distance measurement calculation module, used for completing the distance measurement calculation when the difference between the coordinate altitude and the elevation data reference value is lower than a preset acceptable error; The ranging value returning module is used to return the ranging value to 0 when the length of the ranging line is greater than the maximum ranging range or less than the minimum ranging range (MinR) and the height difference is still greater than the acceptable error, that is, the ranging value does not exceed the effective ranging range.

10. The pod aiming simulation system in the army UAV simulation system according to claim 6 is characterized in that: The pod aiming simulation system in the army unmanned aerial vehicle simulation system also includes: A response time data real-time monitoring module is used to monitor the response time data of the control quantity data collection of the joystick control quantity of the UAV in real time; wherein the response time data includes the collection response time of each control quantity data collection, the maximum collection impact time value and the minimum collection response time value; The first response time parameter acquisition module is used to acquire the first response time parameter by using the acquisition response time of each control quantity data acquisition, wherein the first response time parameter is acquired by the following formula: Among them, S 01 represents the first response time parameter; n represents the total number of control quantity data collection; T i T represents the collection response time of the i-th control quantity data collection; c Indicates the maximum collection response time allowed for normal operation of control quantity data collection; The second response duration parameter acquisition module is used to obtain the second response duration parameter using the maximum acquisition impact duration value and the minimum acquisition response duration value, wherein the second response duration parameter is obtained by the following formula: Among them, S 02 Represents the second response time parameter; T max and T min They represent the maximum collection impact time and the minimum collection response time respectively; T g Indicates the interval between the maximum acquisition impact duration value and the minimum acquisition response duration value; T n Indicates the total time spent on collecting control quantity data; A response time evaluation parameter acquisition module is used to acquire a response time evaluation parameter using the first response time parameter and the second response time parameter, wherein the response time evaluation parameter is acquired by the following formula: S=(1+λ 01 ·S 01 +λ 02 ·S 02 )·S0 Where S represents the response time evaluation parameter; S 01 Indicates the first response time parameter; S 02 represents the second response time parameter; 01 and λ 02 denote the first coefficient and the second coefficient respectively, and the first coefficient and the second coefficient are obtained by the following formula: Where n represents the total number of control quantity data collection; T i represents the collection response time of the i-th control quantity data collection; w i represents the weight value of the scene where the joystick control amount change corresponding to the i-th joystick control amount data collection occurs; and, Among them, G max Indicates the ratio of the change in the joystick control amount corresponding to the maximum acquisition impact duration value; G min Indicates the ratio of the change in the joystick control amount corresponding to the minimum acquisition impact duration value; w max Indicates the weight value of the scene where the joystick control amount changes corresponding to the maximum acquisition impact duration value; w min Indicates the weight value of the scene where the joystick control amount changes corresponding to the minimum acquisition impact duration value; Abnormal judgment and alarm are used to judge that there is abnormality in the collection and operation of the joystick control amount when the response time evaluation parameter is lower than the preset parameter threshold, and to issue an abnormal alarm.

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