Unmanned aerial vehicle ground moving target training system and method
By introducing random driving paths into the drone ground target training system, the problem of single driving routes for training vehicles in the existing system is solved, which improves the difficulty and authenticity of training and enhances the training effect.
Patent Information
- Application Number
- CN202411572009.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-06
- Publication Date
- 2025-02-14
AI Technical Summary
In the existing drone ground target training system, the training vehicle can only drive along the established route after being locked, which lacks authenticity and is difficult to improve the difficulty and effect of training.
By receiving the site topographic map and vehicle information, a vehicle main path map is generated and a random driving range is added. The vehicle is locked and travels along the random path map is increased to increase the aiming difficulty.
It improves the difficulty of training, makes practical simulation more realistic, enhances the training effect, and optimizes judgment and training analysis through automated systems.
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to the field of mobile target training, and in particular to a ground mobile target training system and method for an unmanned aerial vehicle. Background Art
[0002] At present, the UAV ground target system belongs to the integrated solution and equipment for smart shooting range confrontation training, which is used in UAV actual combat shooting training. The UAV ground mobile target training system includes the UAV ground target system, which usually uses training vehicles to simulate the movement and infrared characteristics of enemy tanks and vehicles, and uses fixed targets to simulate local positions, and trains reconnaissance and strike integrated UAVs to conduct day and night reconnaissance and live-fire shooting training on ground mobile targets. Among them, the training vehicle needs to simulate the enemy's appearance as well as visible light, infrared characteristics, and motion characteristics, and meet the requirements of simulated appearance characteristics, maneuverability, multi-mode control functions, environmental adaptability requirements, modular rapid assembly requirements, remote communication functions, and safety protection functions. The training vehicle needs to travel along the path to avoid repetition of the training process and ensure the difficulty of the training. At the same time, it is also necessary to take into account data collection to ensure accurate scoring and judgment.
[0003] The above-mentioned existing technical solutions have the following defects: when training vehicles are attacked by drones during training, they are generally attacked by simulated methods such as laser irradiation. The training vehicles can detect the laser or infrared rays irradiated by the drone to determine whether they are locked by the drone. However, currently, after being locked, the training vehicles will only travel along a predetermined route, which is not realistic enough for actual combat simulation. Summary of the invention
[0004] In order to increase the difficulty of training, make actual combat simulation more realistic, and optimize adjudication and training analysis, the present application provides a UAV ground mobile target training system and method.
[0005] On the one hand, the present application provides a UAV ground mobile target training method using the following technical solutions: A method for training a ground mobile target of an unmanned aerial vehicle comprises the following steps: Receive and store the input site topographic map, vehicle information, and random driving range, where the vehicle information includes the vehicle number and vehicle model, and the random driving range is a circular range; Marking prohibited driving areas on the site topographic map according to received instructions; Draw a corresponding vehicle main path map for each vehicle number on the site topographic map, add the random driving range to the vehicle main path map, let the center of the random driving range cover the vehicle main path, delete the overlapping part of the random driving range and the prohibited driving area, and obtain the vehicle random path map; Send the vehicle main body path map to the vehicle with the corresponding vehicle number; The vehicle detects whether it is locked; If it is detected that it is locked, the vehicle is controlled to travel along the random path map of the vehicle within the random driving range. The forward direction of the vehicle during random driving is the set angle offset to the left and right sides of the baseline. When the boundary of the random driving range of the vehicle touches the edge of the random driving range, the driving direction of the vehicle is modified to the direction within the random driving range away from the contact point with the random driving range.
[0006] By adopting the above solution, when the vehicle detects that it has been locked by a drone, it will move randomly based on the original moving route to increase the difficulty of the drone's aiming, thereby increasing the difficulty of training and effectively improving the training effect.
[0007] Preferably, a random driving range is set; Set the width of the vehicle main path map, divide each vehicle main path map into sections and set the driving speed and limit time of each section; Control the vehicle to travel within a random driving range, and when the boundary of the random driving range of the vehicle contacts the edge of the vehicle main body path map, modify the vehicle's driving direction to a direction within the random driving range that is away from the contact point with the vehicle main body path map; Control the vehicle's driving speed. The vehicle's driving speed is the sum of the basic speed and the compensation speed. When the vehicle is on the main vehicle path, the basic speed is equal to the driving speed of the section where the vehicle is located. When the vehicle enters a new section, the time the vehicle spends on the section is recorded. When the time exceeds the limit time of the section, the speed increase value is used as the compensation speed. When the time is less than the limit time of the section, the speed decrease value is used as the compensation speed. Detect the target hit information on the vehicle and record the position of the vehicle when the target is hit; Generate a grade form based on the recorded information.
[0008] By adopting the above solution, after uploading the site topographic map, the user draws the main vehicle path map according to the training needs. The system controls the vehicle to drive on the path with irregular forward methods and speeds, and makes the vehicle drive along the main path as much as possible and arrive at the set midpoint within the specified time, which ensures both the training effect and the safety of personnel. After recording the results, the results form is automatically generated for users to view.
[0009] Preferably, the step of "setting a random driving range" further includes: The random driving range is a circular range drawn with the vehicle as the center point. The radius of the circular range is set according to the instruction, and the vehicle's forward direction is used as the reference line to offset the set angle to the left and right sides, eventually forming a random driving range with a fan-shaped area.
[0010] By adopting the above scheme, the sector-shaped random driving range takes into account the problem of adjusting the direction of the vehicle, so that the vehicle can quickly adjust its direction to a certain direction within the random driving range during normal driving.
[0011] Preferably, the step of "when the time exceeds the limited duration of the section, the speed increase value is used as the compensation speed, and when the time is less than the limited duration of the section, the speed decrease value is used as the compensation speed" includes: When the time exceeds the time limit of the road section, the difference between the actual time and the time limit is calculated, and the speed increase value is calculated according to the calculated difference and the driving speed and time limit of the next road section, and the speed increase value is used as the compensation speed; When the time is less than the time limit of the section, the difference between the actual time and the time limit is calculated, and the speed reduction value is calculated based on the calculated difference and the driving speed and time limit of the next section, and the speed reduction value is used as the compensation speed.
[0012] By adopting the above solution, the driving speed will be calculated based on the calculated difference and the driving speed of the next section and the limit time to calculate the speed that should be compensated, ensuring that the vehicle can reach the destination according to the set time.
[0013] Preferably, the step of "dividing each vehicle main body path map into sections and setting the travel speed and limit time of each section" also includes: Calculate the length of each road section, calculate the proportion of each road section on the main path of the vehicle according to the length of each road section, receive the input total training time, and calculate the limit time of each road section by multiplying the proportion of each road section by the total training time; The driving trajectory of the vehicle is collected when it passes through a fixed-length road section under a random driving range. After multiple tests, the actual driving distance is calculated based on the driving trajectory, and the average of all actual driving distances is calculated to obtain the average driving distance. The estimated driving distance per unit distance of the road section is obtained based on the length of the test section and the average driving distance. The estimated driving distance per unit distance of the road section is substituted into each road section to calculate the driving speed of each road section.
[0014] By adopting the above solution, after the user sets the route, the route is divided into sections, and the system automatically calculates the time limit and driving speed for each section, effectively reducing the user's workload.
[0015] Preferably, the step of "controlling the vehicle to travel within a random driving range" further includes: When the random driving ranges of different vehicles overlap, it is determined whether the overlapping area is on the left or right side of the random driving range of the vehicle. When it is determined to be on the left side, the vehicle drives to the right, and when it is determined to be on the right side, the vehicle drives to the left.
[0016] By adopting the above solution, the vehicle can be effectively prevented from colliding with other vehicles during random driving.
[0017] Preferably, the method further comprises the following steps: Set manual control mode and automatic control mode for each vehicle; After receiving the command, the manual control mode or automatic control mode of the corresponding vehicle is switched according to the command. When the vehicle is in the automatic control mode, the vehicle automatically drives. When the vehicle is in the manual control mode, the vehicle switches to manual driving. Detect vehicle status; If the vehicle fails, it will automatically switch to manual control mode; Set the hit threshold; When the target is hit, the hit target value is accumulated according to the hit data. When the hit target value exceeds the hit threshold, the current vehicle driving is stopped and switched to manual control mode.
[0018] By adopting the above solution, in addition to automatic control through the system, the vehicle can also be manually controlled through manual driving. The system switches to manual control after a vehicle failure. If the user sets a hit threshold, the vehicle will stop and switch to manual mode if the target data reaches the hit threshold after being hit by a drone, which is used for more realistic simulation of drone combat.
[0019] Preferably, the method further comprises the following steps: Select the repair area on the vehicle main path map; After receiving the vehicle maintenance instruction, the corresponding vehicle number is searched, the current vehicle position is searched according to the vehicle number, and an automatic maintenance route map from the current vehicle position to the repair area is generated according to the current vehicle position and the repair area; The corresponding vehicle is controlled to drive according to the automatic maintenance route map. When the random driving range of other vehicles appears within the set distance directly in front of the vehicle, the current vehicle is controlled to stop driving.
[0020] By adopting the above solution, users can control the vehicle through the system to automatically drive to the repair area to wait for maintenance. There is no need for personnel to be present on the site, which effectively improves the safety of personnel.
[0021] Preferably, the method further comprises the following steps: Record the actual route map of all vehicles; Draw a full-process training map based on the actual route map and target hit information recorded, and mark the actual driving speed of the vehicle on each road section on the full-process training map; Generate a dynamic model through the whole process training diagram, adjust the moment of the dynamic model according to the instructions, and display all vehicle status and target data at the current moment.
[0022] By adopting the above solution, users can more easily understand the details of the entire training process through the dynamic model.
[0023] On the other hand, the present application provides a UAV ground mobile target training system that adopts the following technical solution: A UAV ground mobile target training system includes a data storage module, a path setting module, a vehicle detection module, and a vehicle control module; The data storage module receives and stores a site topographic map, vehicle information and a random driving range, wherein the vehicle information includes a vehicle number and a vehicle model, and the random driving range is a circular range, and marks a prohibited driving area on the site topographic map according to the received instructions; The path setting module calls the site topographic map and the random driving range stored in the data storage module, receives the instruction and draws the vehicle main path map according to the instruction, adds the random driving range to the vehicle main path map, makes the center of the random driving range cover the vehicle main path, deletes the overlapping part of the random driving range and the prohibited driving area, obtains the vehicle random path map, and transmits the vehicle main path map and the vehicle random path map to the vehicle control module; The vehicle detection module detects whether the vehicle is locked, and if locked, transmits a change instruction to the vehicle control module; The vehicle control module controls the vehicle driving according to the vehicle main path map. When receiving the change instruction, the vehicle is controlled to drive along the vehicle random path map within the random driving range. The forward direction of the vehicle during random driving is the angle set by the baseline to the left and right sides. When the boundary of the random driving range of the vehicle contacts the edge of the random driving range, the driving direction of the vehicle is modified to the direction within the random driving range away from the contact point with the random driving range.
[0024] By adopting the above solution, when the vehicle detects that it has been locked by a drone, it will move randomly based on the original moving route to increase the difficulty of the drone's aiming, thereby increasing the difficulty of training and effectively improving the training effect.
[0025] Preferably, it also includes a training control module, an information collection module, a form generation module, and a mode switching module; The path setting module sets the width of the vehicle main body path map, divides each vehicle main body path map into sections and sets the driving speed and limit time of each section, associates the vehicle main body path map with the vehicle number and sends it to the training control module; The training control module calls the vehicle information and random driving range of the data storage module, controls the vehicle to travel randomly within the random driving range according to the vehicle main path map, the vehicle driving speed is the sum of the basic speed and the compensation speed, when the vehicle is on the vehicle main path, the basic speed is equal to the driving speed of the road section where the vehicle is located, when the vehicle enters a new road section, the time the vehicle spends in the road section is recorded, when the time exceeds the limited time of the road section, the speed increase value is used as the compensation speed, when the time is less than the limited time of the road section, the speed reduction value is used as the compensation speed; when the training control module determines that the random driving ranges of different vehicles overlap, it determines whether the overlapping area is on the left or right side of the random driving range of the vehicle, when it is determined to be on the left side, the vehicle is controlled to travel to the right, when it is determined to be on the right side, the vehicle is controlled to travel to the left; The mode switching module receives an input command to switch the control mode of the corresponding vehicle, and the control mode includes a manual control mode and an automatic control mode. When the control mode is the automatic control mode, the mode switching module starts the training control module and locks the driving system of the vehicle. When the control mode is the manual control mode, the mode switching module stops the training control module and starts the driving system of the vehicle. The information acquisition module is preset with a hit threshold. When the information acquisition module detects target hit information, the target hit value is accumulated according to the hit data. When the target hit value exceeds the hit threshold, an instruction is transmitted to the mode switching module to adjust the control mode of the vehicle to the manual control mode. The form generation module generates a score form according to the record information, and sends the score form to the data storage module.
[0026] In summary, the present invention has the following beneficial effects: 1. After uploading the site topographic map, the user draws the main vehicle path map according to the training requirements. The system controls the vehicle to travel on the path with irregular forward methods and speeds, and makes the vehicle travel along the main path as much as possible and arrive at the set midpoint within the specified time, which ensures both training effect and personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 This is the overall system block diagram of Example 3 of the present application.
[0028] Figure 2 This is the overall system block diagram of the fourth embodiment of the present application Description of reference numerals: 1. Data storage module; 2. Path setting module; 3. Training control module; 4. Information collection module; 5. Form generation module; 6. Mode switching module; 7. Image acquisition module; 8. Image analysis module. DETAILED DESCRIPTION
[0029] Embodiment 1: This embodiment of the present application discloses a method for training a ground moving target of an unmanned aerial vehicle, and the specific steps are as follows: S100, receiving and storing input site topographic map and vehicle information, wherein the vehicle information includes vehicle number and vehicle model, and the random driving range is a circular range.
[0030] S101. Mark a prohibited driving area on a site topographic map according to a received instruction.
[0031] S200. Draw a corresponding vehicle main path map for each vehicle number on the site topographic map, add the random driving range to the vehicle main path map, let the center of the random driving range cover the vehicle main path, delete the overlapping part of the random driving range and the prohibited driving area, and obtain the vehicle random path map.
[0032] S201, sending the vehicle main body path map to the vehicle with the corresponding vehicle number.
[0033] S300: The vehicle detects whether it is locked.
[0034] S301. If it is detected that the vehicle is locked, the vehicle is controlled to travel along the random path diagram of the vehicle within the random driving range. The forward direction of the vehicle during random driving is the angle set to the left and right of the baseline. When the boundary of the random driving range of the vehicle touches the edge of the random driving range, the driving direction of the vehicle is modified to the direction within the random driving range away from the contact point with the random driving range.
[0035] The implementation principle of a UAV ground mobile target training method in an embodiment of the present application is as follows: when a vehicle detects that it has been locked by a UAV, it will move randomly based on the original moving route to increase the difficulty of aiming the UAV, thereby increasing the difficulty of training and effectively improving the training effect.
[0036] Embodiment 2: This embodiment of the present application discloses a method for training a ground moving target of a UAV, which is different from Embodiment 1 in that it also includes the following specific steps: S100, receiving and storing input site topographic map and vehicle information, wherein the vehicle information includes vehicle number and vehicle model, and setting a hit threshold.
[0037] S101. Set a manual control mode and an automatic control mode for each vehicle.
[0038] S200, setting a random driving range. The random driving range is a circular range drawn with the vehicle as the center point. The radius of the circular range is set according to the instruction. The circular range is offset to the left and right sides by a set angle based on the vehicle's forward direction as the reference line, and finally a random driving range with a fan-shaped area is formed.
[0039] S201. Draw a corresponding vehicle main path map for each vehicle number, set the width of the vehicle main path map, divide each vehicle main path map into sections, and set the driving speed and time limit of each section.
[0040] S202, calculating the length of each road section, calculating the proportion of each road section on the main vehicle path according to the length of each road section, receiving the input total training time, and calculating the limit time of each road section by multiplying the proportion of each road section by the total training time.
[0041] S203, collecting the driving trajectory of the vehicle when it passes through a fixed-length road section under a random driving range, calculating the actual driving distance according to the driving trajectory after multiple tests, calculating the average of all actual driving distances to obtain the average driving distance, obtaining the estimated driving distance per unit distance of the road section according to the length of the test road section and the average driving distance, substituting the estimated driving distance per unit distance of the road section into each road section, and calculating the driving speed of each road section.
[0042] S300, obtaining the vehicle position in real time and associating the vehicle position with the vehicle number.
[0043] S301, controlling the vehicle to travel within a random driving range, and when the boundary of the random driving range of the vehicle contacts the edge of the vehicle main body path map, modifying the vehicle's driving direction to a direction within the random driving range that is away from the contact point with the vehicle main body path map.
[0044] When the random driving ranges of different vehicles overlap, it is determined whether the overlapping area is on the left or right side of the random driving range of the vehicle. When it is determined to be on the left side, the vehicle drives to the right, and when it is determined to be on the right side, the vehicle drives to the left.
[0045] S302, control the vehicle speed, the vehicle speed is the sum of the basic speed and the compensation speed, when the vehicle is on the main vehicle path, the basic speed is equal to the speed of the road section where the vehicle is located. When the time exceeds the limited duration of the road section, calculate the difference between the actual time and the limited duration, calculate the speed increase value based on the calculated difference and the driving speed and limited duration of the next road section, and use the speed increase value as the compensation speed. When the time is less than the limited duration of the road section, calculate the difference between the actual time and the limited duration, calculate the speed reduction value based on the calculated difference and the driving speed and limited duration of the next road section, and use the speed reduction value as the compensation speed.
[0046] S400: Detect target hitting information on the vehicle, and record the position of the vehicle when the target is hit.
[0047] S401. Generate a score sheet based on the recorded information.
[0048] S500: Detect vehicle status. If the vehicle fails, it automatically switches to manual control mode.
[0049] S501. When the target is hit, the target hit value is accumulated according to the hit data. When the target hit value exceeds the hit threshold, the current vehicle driving is stopped and switched to the manual control mode.
[0050] In addition to automatic control through the system, the vehicle can also be manually controlled by human drivers. The system switches to manual control after a vehicle failure. If the user sets a hit threshold, the vehicle will stop and switch to manual mode if the target data reaches the hit threshold after being hit by a drone, which is used for more realistic simulation of drone combat.
[0051] S600: Select a repair area on the vehicle main body path map.
[0052] S601. After receiving a vehicle maintenance instruction, search for the corresponding vehicle number, search for the current vehicle position according to the vehicle number, and generate an automatic maintenance route map from the current vehicle position to the repair area according to the current vehicle position and the repair area.
[0053] S602: Control the corresponding vehicle to travel according to the automatic maintenance route map, and when a random driving range of other vehicles appears within a set distance in front of the vehicle, control the current vehicle to stop traveling.
[0054] Users can use the system to control the vehicle to automatically drive to the repair area to wait for maintenance. No personnel are required to be present on the site, which effectively improves the safety of personnel.
[0055] S700: Record the actual route map of all vehicles.
[0056] S701. Draw a full-process training map based on the recorded actual route map and target hit information, and mark the actual driving speed of the vehicle on each road section on the full-process training map.
[0057] S702, generate a dynamic model through the whole process training diagram, adjust the time of the dynamic model according to the instruction, and display all vehicle status and target data at the current moment.
[0058] Through the dynamic model, users can more easily understand the details of the entire training process.
[0059] The implementation principle of the method for training a ground mobile target of a drone in the embodiment of the present application is as follows: after uploading the site topographic map, the user draws the main vehicle path map according to the training requirements, and the system controls the vehicle to travel on the path with irregular forward methods and speeds, and makes the vehicle travel along the main path as much as possible, and arrives at the set midpoint within the specified time, which ensures both the training effect and the safety of personnel. After recording the results, a results form is automatically generated for users to view.
[0060] Embodiment 3: This embodiment of the present application discloses a UAV ground mobile target training system, such as Figure 1 As shown, it includes a data storage module 1, a path setting module 2, a vehicle detection module 7, and a vehicle control module 8.
[0061] like Figure 1 As shown, the data storage module 1 receives and stores the site topographic map, vehicle information and random driving range, the vehicle information includes the vehicle number and vehicle model, the random driving range is a circular range, and the prohibited driving area is marked on the site topographic map according to the received instructions. The path setting module 2 calls the site topographic map and random driving range stored in the data storage module 1, receives the instructions and draws the vehicle main path map according to the instructions, adds the random driving range to the vehicle main path map, allows the center of the random driving range to cover the vehicle main path, deletes the overlapping part of the random driving range and the prohibited driving area, obtains the vehicle random path map, and transmits the vehicle main path map and the vehicle random path map to the vehicle control module 8.
[0062] like Figure 1 As shown, the vehicle detection module 7 detects whether the vehicle is locked. If it is detected that the vehicle is locked, the change instruction is transmitted to the vehicle control module 8. The vehicle control module 8 controls the vehicle to travel according to the vehicle main path map. After receiving the change instruction, the vehicle is controlled to travel along the vehicle random path map within the random driving range. The forward direction of the vehicle during random driving is the angle set by the baseline to the left and right sides. When the boundary of the random driving range of the vehicle contacts the edge of the random driving range, the driving direction of the vehicle is modified to the direction within the random driving range away from the contact point with the random driving range.
[0063] Embodiment 4: This embodiment of the present application discloses a UAV ground mobile target training system, such as Figure 2 As shown, the difference from the third embodiment is that it also includes a training control module 3, a mode switching module 6, an information collection module 4, a form generation module 5, a mode switching module 6, like Figure 2As shown, the training control module 3 calls the vehicle information and random driving range of the data storage module 1, and controls the vehicle to travel randomly within the random driving range according to the vehicle main path map. The vehicle driving speed is the sum of the basic speed and the compensation speed. When the vehicle is on the vehicle main path, the basic speed is equal to the driving speed of the road section where the vehicle is located. When the vehicle enters a new road section, the time the vehicle spends on the road section is recorded. When the time exceeds the limited time of the road section, the speed increase value is used as the compensation speed. When the time is less than the limited time of the road section, the speed reduction value is used as the compensation speed. When the training control module 3 determines that the random driving ranges of different vehicles overlap, it determines whether the overlapping area is on the left or right side of the random driving range of the vehicle. When it is determined to be on the left side, the vehicle is controlled to travel to the right. When it is determined to be on the right side, the vehicle is controlled to travel to the left.
[0064] like Figure 2 As shown, the mode switching module 6 receives an input instruction to switch the control mode of the corresponding vehicle. The control mode includes a manual control mode and an automatic control mode. When the control mode is the automatic control mode, the mode switching module 6 starts the training control module 3 and locks the driving system of the vehicle. When the control mode is the manual control mode, the mode switching module 6 stops the training control module 3 and starts the driving system of the vehicle. The information acquisition module 4 detects the target hit information on the vehicle, records the position of the vehicle when the target is hit, and transmits the detected information to the form generation module 5. The form generation module 5 generates a score form according to the recorded information and sends the score form to the data storage module 1. The information acquisition module 4 is preset with a hit threshold. When the information acquisition module 4 detects the target hit information, the target hit value is accumulated according to the hit data. When the target hit value exceeds the hit threshold, an instruction is transmitted to the mode switching module 6 to adjust the control mode of the vehicle to the manual control mode.
[0065] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A method for training a ground mobile target of an unmanned aerial vehicle, characterized in that: The following steps are involved: Receive and store the input site topographic map, vehicle information, and random driving range, where the vehicle information includes the vehicle number and vehicle model, and the random driving range is a circular range; Marking prohibited driving areas on the site topographic map according to received instructions; Draw a corresponding vehicle main path map for each vehicle number on the site topographic map, add the random driving range to the vehicle main path map, let the center of the random driving range cover the vehicle main path, delete the overlapping part of the random driving range and the prohibited driving area, and obtain the vehicle random path map; Send the vehicle main body path map to the vehicle with the corresponding vehicle number; The vehicle detects whether it is locked; If it is detected that it is locked, the vehicle is controlled to travel along the random path map of the vehicle within the random driving range. The forward direction of the vehicle during random driving is the set angle offset to the left and right sides of the baseline. When the boundary of the random driving range of the vehicle touches the edge of the random driving range, the driving direction of the vehicle is modified to the direction within the random driving range away from the contact point with the random driving range.
2. A method for training a ground mobile target of an unmanned aerial vehicle according to claim 1, characterized in that: The following steps are also included: Set random driving range; Set the width of the vehicle main path map, divide each vehicle main path map into sections and set the driving speed and limit time of each section; Control the vehicle to travel within a random driving range, and when the boundary of the random driving range of the vehicle contacts the edge of the vehicle main body path map, modify the vehicle's driving direction to a direction within the random driving range that is away from the contact point with the vehicle main body path map; Control the vehicle's driving speed. The vehicle's driving speed is the sum of the basic speed and the compensation speed. When the vehicle is on the main vehicle path, the basic speed is equal to the driving speed of the section where the vehicle is located. When the vehicle enters a new section, the time the vehicle spends on the section is recorded. When the time exceeds the limit time of the section, the speed increase value is used as the compensation speed. When the time is less than the limit time of the section, the speed decrease value is used as the compensation speed. Detect the target hit information on the vehicle and record the position of the vehicle when the target is hit; Generate a grade form based on the recorded information.
3. The method for training a ground mobile target of an unmanned aerial vehicle according to claim 1, characterized in that: The step of "when the time exceeds the limited time of the section, the speed increase value is used as the compensation speed, and when the time is less than the limited time of the section, the speed reduction value is used as the compensation speed" includes: When the time exceeds the time limit of the road section, the difference between the actual time and the time limit is calculated, and the speed increase value is calculated according to the calculated difference and the driving speed and time limit of the next road section, and the speed increase value is used as the compensation speed; When the time is less than the time limit of the section, the difference between the actual time and the time limit is calculated, and the speed reduction value is calculated based on the calculated difference and the driving speed and time limit of the next section, and the speed reduction value is used as the compensation speed.
4. The method for training a ground mobile target of an unmanned aerial vehicle according to claim 1, characterized in that: The step of "dividing each vehicle main body path map into sections and setting the driving speed and limit time of each section" also includes: Calculate the length of each road section, calculate the proportion of each road section on the main path of the vehicle according to the length of each road section, receive the input total training time, and calculate the limit time of each road section by multiplying the proportion of each road section by the total training time; The driving trajectory of the vehicle is collected when it passes through a fixed-length road section under a random driving range. After multiple tests, the actual driving distance is calculated based on the driving trajectory, and the average of all actual driving distances is calculated to obtain the average driving distance. The estimated driving distance per unit distance of the road section is obtained based on the length of the test section and the average driving distance. The estimated driving distance per unit distance of the road section is substituted into each road section to calculate the driving speed of each road section.
5. The method for training a ground mobile target of an unmanned aerial vehicle according to claim 1, characterized in that: The step of "controlling the vehicle to travel within a random driving range" also includes: When the random driving ranges of different vehicles overlap, it is determined whether the overlapping area is on the left or right side of the random driving range of the vehicle. When it is determined to be on the left side, the vehicle drives to the right, and when it is determined to be on the right side, the vehicle drives to the left.
6. The method for training a ground mobile target of an unmanned aerial vehicle according to claim 1, characterized in that: The following steps are also included: Set manual control mode and automatic control mode for each vehicle; After receiving the command, the manual control mode or automatic control mode of the corresponding vehicle is switched according to the command. When the vehicle is in the automatic control mode, the vehicle automatically drives. When the vehicle is in the manual control mode, the vehicle switches to manual driving. Detect vehicle status; If the vehicle fails, it will automatically switch to manual control mode; Set the hit threshold; When the target is hit, the hit target value is accumulated according to the hit data. When the hit target value exceeds the hit threshold, the current vehicle driving is stopped and switched to manual control mode.
7. The method for training a ground mobile target of an unmanned aerial vehicle according to claim 1, characterized in that: The following steps are also included: Select the repair area on the vehicle main path map; After receiving the vehicle maintenance instruction, the corresponding vehicle number is searched, the current vehicle position is searched according to the vehicle number, and an automatic maintenance route map from the current vehicle position to the repair area is generated according to the current vehicle position and the repair area; The corresponding vehicle is controlled to drive according to the automatic maintenance route map. When the random driving range of other vehicles appears within the set distance directly in front of the vehicle, the current vehicle is controlled to stop driving.
8. The method for training a ground mobile target of an unmanned aerial vehicle according to claim 1, characterized in that: The following steps are also included: Record the actual route map of all vehicles; Draw a full-process training map based on the actual route map and target hit information recorded, and mark the actual driving speed of the vehicle on each road section on the full-process training map; Generate a dynamic model through the whole process training diagram, adjust the moment of the dynamic model according to the instructions, and display all vehicle status and target data at the current moment.
9. An unmanned aerial vehicle ground mobile target training system, characterized in that: It comprises a data storage module (1), a path setting module (2), a vehicle detection module (7), and a vehicle control module (8); The data storage module (1) receives and stores a site topographic map, vehicle information and a random driving range, wherein the vehicle information includes a vehicle number and a vehicle model, and the random driving range is a circular range, and a prohibited driving area is marked on the site topographic map according to the received instructions; The path setting module (2) calls the site topographic map and the random driving range stored in the data storage module (1), receives instructions and draws a vehicle main path map according to the instructions, adds the random driving range to the vehicle main path map, makes the center of the random driving range cover the vehicle main path, deletes the overlapping part of the random driving range and the prohibited driving area, obtains the vehicle random path map, and transmits the vehicle main path map and the vehicle random path map to the vehicle control module (8); The vehicle detection module (7) detects whether the vehicle is locked, and if it is detected that the vehicle is locked, transmits a change instruction to the vehicle control module (8); The vehicle control module (8) controls the vehicle to travel according to the vehicle main body path map. When receiving a change instruction, the vehicle is controlled to travel along the vehicle random path map within a random travel range. The forward direction of the vehicle during random travel is a set angle offset to the left and right sides of the baseline. When the boundary of the random travel range of the vehicle contacts the edge of the random travel range, the vehicle's travel direction is modified to a direction within the random travel range that is away from the contact point with the random travel range.
10. The UAV ground moving target training system according to claim 9, characterized in that: It also includes a training control module (3), an information collection module (4), a form generation module (5), and a mode switching module (6); The path setting module (2) sets the width of the vehicle main body path map, divides each vehicle main body path map into sections and sets the travel speed and time limit of each section, associates the vehicle main body path map with the vehicle number and sends it to the training control module (3); The training control module (3) calls the vehicle information and random driving range of the data storage module (1), and controls the vehicle to travel randomly within the random driving range according to the vehicle main path map. The vehicle driving speed is the sum of the basic speed and the compensation speed. When the vehicle is on the vehicle main path, the basic speed is equal to the driving speed of the road section where the vehicle is located. When the vehicle enters a new road section, the time the vehicle spends on the road section is recorded. When the time exceeds the limited time of the road section, the speed increase value is used as the compensation speed. When the time is less than the limited time of the road section, the speed decrease value is used as the compensation speed. When the training control module (3) determines that the random driving ranges of different vehicles overlap, it determines whether the overlapping area is on the left or right side of the random driving range of the vehicle. When it is determined to be on the left side, the vehicle is controlled to travel to the right. When it is determined to be on the right side, the vehicle is controlled to travel to the left. The mode switching module (6) receives an input instruction to switch the control mode of the corresponding vehicle, wherein the control mode includes a manual control mode and an automatic control mode. When the control mode is the automatic control mode, the mode switching module (6) starts the training control module (3) and locks the driving system of the vehicle. When the control mode is the manual control mode, the mode switching module (6) stops the training control module (3) and starts the driving system of the vehicle. The information acquisition module (4) is preset with a hit threshold. When the information acquisition module (4) detects target hit information, the target hit value is accumulated according to the hit data. When the target hit value exceeds the hit threshold, an instruction is transmitted to the mode switching module (6) to adjust the vehicle control mode to the manual control mode. The form generation module (5) generates a score form according to the record information, and sends the score form to the data storage module (1).