Mapping method and system of air equipment communicating with ground equipment

Abstract

The invention belongs to the technical field of semi-physical simulation, and particularly discloses a mapping method and system of air equipment communicating with ground equipment. According to the application, the simulation device is used to simulate the air device communicating with the ground device, the motion track of the air device is scaled according to the scaling of the air device, and the radio parameter of the air device is scaled according to the scaling of the radio parameter of the air device. According to the method, the motion trail and the radio parameters of the air equipment are mapped to the simulation environment simulating the complex electromagnetic environment according to the corresponding scaling, the more real electromagnetic environment is provided for a user, mapping of the simulation equipment and the air equipment is achieved, and support is provided for digital twinning development.

Description

Technical Field

[0001] The present application belongs to the technical field of semi-physical simulation, and more specifically, to a mapping method and system for an aerial device that communicates with a ground device. Background Art

[0002] Virtual-reality mapping technology plays a vital role in the field of simulation. With the complexity of the electromagnetic environment and the rapid development of related technologies, simulation has become an important means of training and testing. As a key technology, virtual-reality mapping can map various parameters and conditions in the real world into a virtual simulation environment, providing decision makers and operators with more realistic and effective training and testing scenarios.

[0003] Currently, virtual-to-real mapping models are widely used in digital twin systems. However, in systems that simulate complex electromagnetic environments, there are few studies on virtual-to-real mapping of aerial devices (such as aerial radars, communication targets, etc.) that communicate with ground devices, and there is a lack of virtual-to-real mapping models for aerial devices. How to map real aerial devices to systems that simulate complex electromagnetic environments to provide users with a more realistic electromagnetic environment and provide support for the development of digital twins is still an unresolved problem. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of this application is to provide a mapping method and system for aerial devices that communicate with ground devices, aiming to solve the problem in the related art that it is difficult to map real aerial devices into a system that simulates the electromagnetic environment of the load.

[0005] To achieve the above objectives, in a first aspect, the present application provides a mapping method for an aerial device communicating with a ground device, comprising:

[0006] scaling the motion trajectory of the aerial device according to a scaling ratio of the motion trajectory of the aerial device communicating with the ground device to generate a trajectory of a simulated device for simulating the aerial device in a simulation environment;

[0007] The radio parameters are scaled according to the scaling ratio of the radio parameters of the air device to configure the communication system of the simulated device in the simulation environment.

[0008] In some embodiments, when the scaling ratio of the motion trajectory includes a first scaling ratio corresponding to the position of the aerial device in the three-dimensional space and a second scaling ratio corresponding to the speed of the aerial device in the three-dimensional space, scaling the motion trajectory of the aerial device according to the scaling ratio of the motion trajectory of the aerial device communicating with the ground device to generate a trajectory of a simulated device for simulating the aerial device in the simulation environment includes:

[0009] According to the first scaling ratio, scaling the position of the aerial device in the three-dimensional space to obtain the position of the simulated device;

[0010] According to the second scaling ratio, scaling the speed of the aerial device in the three-dimensional space to obtain the speed of the simulated device;

[0011] A trajectory of the simulated device for simulating the aerial device is generated in the simulation environment according to the position of the simulated device and the velocity of the simulated device.

[0012] In some embodiments, scaling the position of the aerial device in the three-dimensional space according to the first scaling ratio to obtain the position of the simulated device includes:

[0013] Scaling the position of the aerial device in the three-dimensional space according to the first scaling ratio to obtain the position of the simulated device includes:

[0014] The position P of the aerial device in three-dimensional space is calculated based on the following formula: real (x r ,y r ,z r ) to zoom and get the position of the simulated device:

[0015] P drone (x d ,y d ,z d )=P real (x r ·S s ,y r ·S s ,z r ·S s );

[0016] Among them, P drone (x d ,y d ,z d ) is the position of the simulated device, xd, yd and zd are the horizontal coordinate, vertical coordinate and vertical coordinate of the simulated device in three-dimensional space respectively, x r ,y r and z r are the horizontal, vertical and vertical coordinates of the aerial equipment in three-dimensional space, S s is the first scaling ratio;

[0017] Accordingly, the speed of the aerial device in the three-dimensional space is scaled according to the second scaling ratio to obtain the speed of the simulated device, including:

[0018] The speed of the aerial device in three-dimensional space is calculated based on the following formula Zoom in and get the speed of the simulated device:

[0019]

[0020] in, To simulate the speed of the device, and are the velocity components of the simulated device in the x, y and z directions respectively, and are the velocity components of the aerial device in the x, y and z directions respectively, S v is the second zoom ratio.

[0021] In some embodiments, when the scaling ratio of the radio parameter includes a third scaling ratio corresponding to the frequency of the air device and a fourth scaling ratio corresponding to the power of the air device, scaling the radio parameter according to the scaling ratio of the radio parameter of the air device to configure a communication system of the simulated device in the simulation environment includes:

[0022] scaling the frequency in the radio parameters of the air device according to a third scaling ratio to obtain the frequency of the simulated device;

[0023] scaling the power in the radio parameters of the air device according to a fourth scaling ratio to obtain the power of the simulated device;

[0024] A communication system of the simulated device is configured in the simulation environment according to the frequency of the simulated device and the power of the simulated device.

[0025] In some embodiments, scaling the frequency in the radio parameter of the air device according to the third scaling ratio to obtain the frequency of the simulated device includes:

[0026] Get the frequency of the simulated device based on the following formula:

[0027] f drone =f real ·S f ;

[0028] Among them, f real is the frequency of the airborne equipment, S f is the third scaling factor, f drone The frequency of the analog device;

[0029] Accordingly, according to the fourth scaling ratio, the power in the radio parameters of the air device is scaled to obtain the power of the simulated device, including:

[0030] The power of the simulated device is obtained based on the following formula:

[0031] P drone =P·S p;

[0032] Where P is the power of the aerial equipment, P drone is the power of the simulated device, S p This is the fourth zoom ratio.

[0033] In some embodiments, the above method further includes:

[0034] According to the position of the aerial device in three-dimensional space and the current position of the load on the simulation device, the alignment angle and direction vector of the load are determined so that the radiation direction of the load is consistent with the radiation direction of the aerial device.

[0035] In some embodiments, determining an alignment angle and a direction vector of the payload based on a position of the aerial device in three-dimensional space and a current position of the payload on the simulation device includes:

[0036] The alignment angle and direction vector of the load are obtained based on the following formula:

[0037]

[0038] θ=arctan2(y r -y p ,x r -x p );

[0039] Where θ is the alignment angle, is the direction vector, P real (x r ,y r ,z r ) is the position of the aerial device in three-dimensional space, x r ,y r and z r are the horizontal, vertical and vertical coordinates of the aerial equipment in three-dimensional space, respectively. payload (x p ,y p ,z p ) is the current position of the load, x p ,y p and z p are the horizontal, vertical and vertical coordinates of the load in three-dimensional space respectively.

[0040] In a second aspect, the present application provides a mapping system for an aerial device communicating with a ground device, comprising:

[0041] A first mapping module, configured to scale the motion trajectory of the aerial device according to a scaling ratio of the motion trajectory of the aerial device, so as to generate a trajectory of a simulated device for simulating the aerial device in a simulation environment;

[0042] The second mapping module is used to scale the radio parameters according to the scaling ratio of the radio parameters of the air device to configure the communication system of the simulated device in the simulation environment.

[0043] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the programs stored in the memory are executed, the processor is used to execute the mapping method described in the first aspect or any embodiments of the first aspect.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the mapping method described in the first aspect or any some embodiments of the first aspect.

[0045] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the mapping method described in the first aspect or any embodiments of the first aspect.

[0046] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0047] The present application provides a mapping method and system for aerial equipment that communicates with ground equipment. The method uses a simulation device to simulate the aerial equipment that communicates with the ground equipment, scales the motion trajectory of the aerial equipment according to the scaling ratio of the aerial equipment, and scales the radio parameters of the aerial equipment according to the scaling ratio of the radio parameters of the aerial equipment, so as to map the motion trajectory and radio parameters of the aerial equipment according to the corresponding scaling ratio to a simulation environment that simulates a complex electromagnetic environment, thereby providing users with a more realistic electromagnetic environment, realizing the mapping of simulation equipment and aerial equipment, and providing support for the development of digital twins. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flowchart of a mapping method of an aerial device communicating with a ground device provided in an embodiment of the present application;

[0049] Figure 2 This is a schematic diagram of a typical simulated complex electromagnetic environment scenario provided by an embodiment of the present application;

[0050] Figure 3 This is a simplified model diagram of a typical simulated complex electromagnetic environment scenario provided by an embodiment of the present application;

[0051] Figure 4 It is a structural schematic diagram of a mapping system for an aerial device communicating with a ground device provided in an embodiment of the present application;

[0052] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0054] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0055] The terms "first", "second", etc. in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of objects. For example, a first scaling ratio and a second scaling ratio are used to distinguish different scaling ratios rather than to describe a specific order of scaling ratios.

[0056] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0057] In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more than two.

[0058] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0059] See also Figure 1 A mapping method for an aerial device communicating with a ground device provided in an embodiment of the present application may include: step 110 and step 120.

[0060] Step 110 scales the motion trajectory of the aerial device according to the scaling ratio of the motion trajectory of the aerial device communicating with the ground device, so as to generate a trajectory of a simulated device for simulating the aerial device in the simulation environment;

[0061] Step 120 scales the radio parameters according to the scaling ratio of the radio parameters of the air device to configure the communication system of the simulated device in the simulation environment.

[0062] In the embodiment of the present application, the aerial device may be an aerial radar and a communication target. The ground device may be a ground sensing device, including a reconnaissance device and other sensing devices.

[0063] Please see further Figure 2 When the ground sensing device 1 conducts reconnaissance on the aerial device 3, the simulation device 2 is used to simulate the aerial device 3. This complex electromagnetic environment scenario can be simplified as Figure 3 , which represents the relationship between the reconnaissance device 11, the simulation device 2, the aerial device 3 and other perception devices 12 (such as the monitor of the simulation device 2). The scenario is described as follows: the aerial device 3 radiates electromagnetic signals (such as radar / communication / data link signals), which are detected and identified by the reconnaissance device 11 and then interfered with according to relevant instructions. The electromagnetic signals in this process can be equivalent to: the simulation device 2 mounts a radiation source (such as a payload) to emit a radiation signal (such as a radar / communication / data link signal), which is detected and identified by the reconnaissance device 11 and then interfered with according to the strategy. This process can also be observed by other perception devices 12 to monitor and evaluate the process.

[0064] In the embodiment of the present application, the simulation device may be a drone.

[0065] Assume that the location of other sensing devices is S, and the motion trajectory of aerial device 3 is represented as O1,...,O i , the motion trajectory of the simulated device 2 such as a drone carrying the simulated radiation source can be formulated accordingly, represented by M1,...,M i , then the following relationship should exist between the reconnaissance equipment 11, the aerial equipment 3 and the UAV:

[0066] 1. Geometric relationship

[0067] Assume that the reconnaissance device 11 is located at position A, M i and O i are located on a straight line, forming a similar triangle. That is to say, when observing from position A, M i and O i At the same time, when the aerial device 3 moves from O1 to O i When:

[0068]

[0069] Among them, O1A is the distance from O1 to A, M1A is the distance from M1 to A, O i A is O i Distance to A, M i A is M i The distance to A.

[0070] 2. Time relationship

[0071] During the space simulation, the aerial device 3 moves from O1 to O i , it is necessary to simulate device 2 such as a drone moving from M1 to M i , that is, the following time relationship exists:

[0072] t O1Oi =t M1Mi

[0073] Among them, t O1Oi For aerial device 3 moving from O1 to O i Time, t M1Mi To simulate the movement of device 2 from M1 to M i time.

[0074] 3. Vector Relationship

[0075] Based on the above-mentioned geometric relationship, time relationship, and taking into account the motion characteristics of the aerial device 3 and the simulation device 2, and considering the directionality, the vector relationship between the simulation device 2 such as a drone and the aerial device 3 can be obtained, including the velocity vector and acceleration vector generated by the above-mentioned relationship.

[0076] 4. Electromagnetic signal relationship

[0077] During the space simulation, the simulated device 2 moves from M1 to M i , and the air device 3 moves from O1 to O i The electromagnetic signals generated are similar in terms of time, signal pattern, signal strength and change pattern.

[0078] According to the above relationship, the parameters necessary for the UAV and payload to simulate complex electromagnetic environments can be obtained, including flight parameters and payload signal parameters.

[0079] It can be seen that the virtual-real mapping of the real environment and the virtual environment is the core problem solved by this application. In the virtual-real mapping, the key is to accurately map the parameters of the aerial target 3 into the simulation environment built based on the three-dimensional scene simulation software (System Tool Kit, STK). This includes the motion trajectory and radio parameters of the aerial device 3. By analyzing the motion characteristics and radiation characteristics of the aerial device 3, a mathematical model of parameter mapping is established to ensure that the real situation is accurately restored in the simulation.

[0080] As a powerful tool, STK has been widely used in simulation. Its excellent multi-domain simulation capabilities make it an ideal choice for simulating and evaluating complex electromagnetic environments.

[0081] In order to realize virtual-reality mapping, the embodiment of the present application needs to build a drone model in STK. This model not only includes the external geometry of the drone, but also needs to consider key parameters such as its dynamic characteristics and communication capabilities. Through reasonable scaling and mapping algorithms, the embodiment of the present application can enable the drone to simulate the motion trajectory and radiation behavior of the aerial device 3 in a simulation environment. This process is crucial to achieve the realism and credibility of the simulation. In the design of the STK virtual-reality mapping model, the mapping algorithm is a crucial part. The following introduces the scaling algorithm model for simulating the motion trajectory of the aerial device 3 and the scaling algorithm model for the radio parameters of the radiation source.

[0082] 1. Re-scaling algorithm model for simulating the motion trajectory of aerial device 3

[0083] When mapping the motion trajectory of the aerial device 3 to the drone in the simulation environment, the size and speed differences between the aerial device 3 and the drone need to be taken into account. The re-scaling algorithm model can scale the motion trajectory of the aerial device 3 according to a certain scaling ratio to adapt to the size and speed of the drone, and generate a trajectory of the simulated device 2, such as a drone, for simulating the aerial device 3 in the simulation environment.

[0084] 2. Scaling algorithm model of radio parameters of radiators

[0085] For the mapping of the radiation source in the aerial device 3, especially the mapping of the radio parameters, it is necessary to consider the communication capability and performance of the simulated device 2, such as the drone. The scaling algorithm of the radio parameters of the radiation source can map the radio parameters of the aerial device 3 to the drone to ensure that the communication behavior in the simulation environment is consistent with the real scene.

[0086] Specifically, the radio parameters of the radiation source of the aerial device 3 are scaled according to a certain scaling ratio to configure the communication system of the simulated device 2, such as a drone, in the simulation environment.

[0087] An embodiment of the present application provides a mapping method for an aerial device that communicates with a ground device. The method utilizes a simulation device to simulate the aerial device that communicates with the ground device, scales the motion trajectory of the aerial device according to the scaling ratio of the aerial device, and scales the radio parameters of the aerial device according to the scaling ratio of the radio parameters of the aerial device, so as to map the motion trajectory and radio parameters of the aerial device to a simulation environment that simulates a complex electromagnetic environment according to the corresponding scaling ratio, thereby providing users with a more realistic electromagnetic environment, realizing the mapping of simulation devices and aerial devices, and providing support for the development of digital twins.

[0088] Further, in some embodiments, when the scaling ratio of the motion trajectory includes a first scaling ratio corresponding to the position of the aerial device in the three-dimensional space and a second scaling ratio corresponding to the speed of the aerial device in the three-dimensional space, the above step 110 scales the motion trajectory of the aerial device according to the scaling ratio of the motion trajectory of the aerial device communicating with the ground device to generate a trajectory of a simulated device for simulating the aerial device in the simulation environment, which may include:

[0089] According to the first scaling ratio, scaling the position of the aerial device in the three-dimensional space to obtain the position of the simulated device;

[0090] According to the second scaling ratio, scaling the speed of the aerial device in the three-dimensional space to obtain the speed of the simulated device;

[0091] A trajectory of the simulated device for simulating the aerial device is generated in the simulation environment according to the position of the simulated device and the velocity of the simulated device.

[0092] In a specific implementation, the motion parameters of the aerial device 3 are obtained, which may specifically include its position, velocity, acceleration, etc. in three-dimensional space.

[0093] According to the first scaling ratio corresponding to the position of the aerial device 3 in the three-dimensional space, the position of the aerial device 3 in the three-dimensional space is scaled to obtain the position of the simulated device 2 in the simulation environment.

[0094] According to the second scaling ratio corresponding to the speed of the aerial device 3 in the three-dimensional space, the speed of the aerial device 3 in the three-dimensional space is scaled to obtain the speed of the simulated device 2 in the simulation environment.

[0095] According to the position of the simulated device 2 and the speed of the simulated device 2 obtained as described above, a trajectory of the simulated device 2 for simulating the aerial device 3 is generated in the simulation environment.

[0096] Furthermore, in some embodiments, in the above steps, scaling the position of the aerial device in the three-dimensional space according to the first scaling ratio to obtain the position of the simulated device includes:

[0097] The position P of the aerial device in three-dimensional space is calculated based on the following formula: real (x r ,y r ,z r ) to zoom and get the position of the simulated device:

[0098] P drone (x d ,y d ,z d )=P real (x r·S s ,y r ·S s ,z r ·S s );

[0099] Among them, P drone (x d ,y d ,z d ) is the position of the simulated device, xd, yd and zd are the horizontal coordinate, vertical coordinate and vertical coordinate of the simulated device in three-dimensional space respectively, x r ,y r and z r are the horizontal, vertical and vertical coordinates of the aerial equipment in three-dimensional space, S s is the first scaling ratio;

[0100] Accordingly, the speed of the aerial device in the three-dimensional space is scaled according to the second scaling ratio to obtain the speed of the simulated device, including:

[0101] The speed of the aerial device in three-dimensional space is calculated based on the following formula Zoom in and get the speed of the simulated device:

[0102]

[0103] in, To simulate the speed of the device, and are the velocity components of the simulated device in the x, y and z directions respectively, and are the velocity components of the aerial device in the x, y and z directions respectively, S v is the second zoom ratio.

[0104] For example, it is assumed that the acquired position of the aerial device 3 in the three-dimensional space is P real (x r ,y r ,z r ), the speed of the aerial device 3 in three-dimensional space is The acceleration of the aerial device 3 in the three-dimensional space can be obtained based on its position and velocity in the three-dimensional space, assuming that are the acceleration components of the aerial device 3 in the x, y and z directions respectively. Assume that the first scaling factor is S s and the second scaling factor is S v , then the position of simulated device 2 can be expressed as:

[0105] P drone (x d,y d ,z d )=P real (x r ·S s ,y r ·S s ,z r ·S s );

[0106] Among them, P drone (x d ,y d ,z d ) is the position of the simulated device, xd, yd and zd are the horizontal coordinate, vertical coordinate and vertical coordinate of the simulated device in three-dimensional space respectively, x r ,y r and z r They are respectively the horizontal, vertical and vertical coordinates of the aerial equipment in three-dimensional space.

[0107] The speed of simulated device 2 can be expressed as:

[0108]

[0109] in, To simulate the speed of the device, and are the velocity components of the simulated device in the x, y and z directions respectively, V xr 、V yr and V zr They are the velocity components of the aerial device in the x, y and z directions respectively.

[0110] In the embodiment of the present application, by using the mature three-dimensional scene simulation software STK, for the aerial equipment, each unit model is made in the background of a two-dimensional or three-dimensional map, and the interaction process between the aerial equipment 3 and the ground equipment is constructed. Through simulation, analysis, calculation, and acquisition of the characteristics and change rules of each unit module in the assumed scene, as well as the strategy of the ground equipment, relevant subjects are generated. And it is abstracted into a scaled model corresponding to the aerial equipment and the ground equipment, and the motion trajectory of the aerial equipment and the drone under the scaled model condition is obtained, as shown in the following example. Figure 2 shown.

[0111] Further, in some embodiments, when the scaling ratio of the radio parameter includes a third scaling ratio corresponding to the frequency of the air device and a fourth scaling ratio corresponding to the power of the air device, in the above steps, scaling the radio parameter according to the scaling ratio of the radio parameter of the air device to configure the communication system of the simulated device in the simulation environment may include:

[0112] scaling the frequency in the radio parameters of the air device according to a third scaling ratio to obtain the frequency of the simulated device;

[0113] scaling the power in the radio parameters of the air device according to a fourth scaling ratio to obtain the power of the simulated device;

[0114] A communication system of the simulated device is configured in the simulation environment according to the frequency of the simulated device and the power of the simulated device.

[0115] In a specific implementation, the radio parameters of the radiation source of the aerial device 3 are analyzed, which may specifically include frequency, power, modulation mode, etc.

[0116] According to the communication capability and technical specifications of the drone, the third scaling ratio corresponding to the frequency and the fourth scaling ratio corresponding to the power in the radio parameters of the radiation source of the aerial device 3 can be obtained.

[0117] The frequency of the aerial device 3 is scaled using the third scaling ratio obtained above to obtain the frequency of the analog device 2 .

[0118] The fourth scaling ratio obtained above is used to scale the power of the aerial device to obtain the power of the simulated device 2.

[0119] Further, in some embodiments, in the above steps, scaling the frequency in the radio parameter of the air device according to the third scaling ratio to obtain the frequency of the simulated device includes:

[0120] Get the frequency of the simulated device based on the following formula:

[0121] f drone =f real ·S f ;

[0122] Among them, f real is the frequency of the airborne equipment, S f is the third scaling factor, f drone The frequency of the analog device;

[0123] Accordingly, in the above steps, scaling the power in the radio parameters of the air device according to the fourth scaling ratio to obtain the power of the simulated device includes:

[0124] The power of the simulated device is obtained based on the following formula:

[0125] P drone =P·S p ;

[0126] Where P is the power of the aerial equipment, P drone is the power of the simulated device, S pThis is the fourth zoom ratio.

[0127] For example, it is assumed that the frequency of the radiation source of the aerial device 3 is f real , the power of the radiation source of the air device 3 is P, and the third scaling ratio is S f , the fourth scaling factor is S p , then the power of simulated device 2 can be expressed as:

[0128] f drone =f real ·S f ;

[0129] The power of simulated device 2 can be expressed as:

[0130] P drone =P·S p .

[0131] After scaling the frequency and power in the radio parameters of the air device 2 according to the above scaling ratio, the communication system of the simulated device 2 is configured in the simulation environment according to the acquired power and frequency of the simulated device 2.

[0132] A mapping method for an aerial device that communicates with ground equipment provided in an embodiment of the present application can accurately map the key features of the aerial device onto a simulated device in a simulation environment, thereby realizing the construction and implementation of a virtual-reality mapping model to provide a more realistic and more effective simulation environment, and provide better training and testing scenarios for decision makers and operators.

[0133] Furthermore, in some embodiments, the above mapping method may further include:

[0134] According to the position of the aerial device in three-dimensional space and the current position of the load on the simulation device, the alignment angle and direction vector of the load are determined so that the radiation direction of the load is consistent with the radiation direction of the aerial device.

[0135] In the specific implementation, in the virtual-to-real mapping, in order to further improve the realism of the simulation, the embodiment of the present application introduces a design for the automatic alignment of the load with the target. The automatic adjustment of the load to the aerial device is achieved through an algorithm. This includes real-time adjustment of parameters such as the alignment angle and direction vector of the load on the drone to maintain the consistency between the radiation direction of the load and the radiation direction of the aerial device. Among them, the radiation direction of the load is the direction in which the load transmits the radiation signal to the ground device, and the radiation direction of the aerial device is the direction in which the radiation source of the aerial device sends the radiation signal to the ground device.

[0136] In an embodiment of the present application, the alignment angle and direction vector of the load are adjusted according to the position of the aerial device 3 in three-dimensional space and the current position of the load on the simulation device 2, so that the radiation direction of the load is consistent with the radiation method of the aerial device 3.

[0137] Furthermore, in some embodiments, in the above steps, determining the alignment angle and direction vector of the payload according to the position of the aerial device in the three-dimensional space and the current position of the payload on the simulation device includes:

[0138] The alignment angle and direction vector of the load are obtained based on the following formula:

[0139]

[0140] θ=arctan2(y r -y p ,x r -x p );

[0141] Where θ is the alignment angle, is the direction vector, P real (x r ,y r ,z r ) is the position of the aerial device in three-dimensional space, x r ,y r and z r are the horizontal, vertical and vertical coordinates of the aerial equipment in three-dimensional space, respectively. payload (x p ,y p ,z p ) is the current position of the load, x p ,y p and z p are the horizontal, vertical and vertical coordinates of the load in three-dimensional space respectively.

[0142] Automatic payload alignment involves the design and optimization of algorithms. Choosing which algorithm to implement the automatic alignment function and how to optimize the algorithm to improve system performance are crucial to ensuring that the payload on the UAV in the simulation can be accurately aligned with the aerial equipment and improving the overall simulation fidelity.

[0143] Assume that the position of the aerial device 3 to which the payload needs to be aligned in three-dimensional space is P real (x r ,y r ,z r ), the current position of the load is P payload (x p ,y p ,z p ), xp ,y p and z p are the horizontal, vertical and vertical coordinates of the load in three-dimensional space, respectively. The alignment angle and direction vector of the load can be expressed as:

[0144]

[0145] θ=arctan2(y r -y p ,x r -x p );

[0146] Where θ is the alignment angle, is the direction vector, arctan2 is the inverse tangent function, which is used to calculate the direction vector.

[0147] The mapping of an aerial device that communicates with ground equipment provided in an embodiment of the present application can enable the payload on the drone to automatically track and align with the simulated aerial device, improve the realism and practicality of the simulated electromagnetic environment, and provide a more accurate and realistic simulation environment for the application, training, and testing of perception equipment.

[0148] The mapping system of an aerial device communicating with a ground device provided by the present invention is described below. The mapping system of an aerial device communicating with a ground device described below and the mapping method of an aerial device communicating with a ground device described above can correspond to each other.

[0149] See also Figure 4 A mapping system for an aerial device communicating with a ground device provided in an embodiment of the present application may include: a first mapping module 410 and a second mapping module 420.

[0150] A first mapping module 410 is used to scale the motion trajectory of the aerial device according to a scaling ratio of the motion trajectory of the aerial device, so as to generate a trajectory of a simulated device for simulating the aerial device in a simulation environment;

[0151] The second mapping module 420 is used to scale the radio parameters according to the scaling ratio of the radio parameters of the air device to configure the communication system of the simulated device in the simulation environment.

[0152] An embodiment of the present application provides a mapping system for an aerial device that communicates with a ground device. The system utilizes a simulation device to simulate the aerial device that communicates with the ground device, scales the motion trajectory of the aerial device according to the scaling ratio of the aerial device, and scales the radio parameters of the aerial device according to the scaling ratio of the radio parameters of the aerial device. The system maps the motion trajectory and radio parameters of the aerial device to a simulation environment that simulates a complex electromagnetic environment at the corresponding scaling ratio, thereby providing users with a more realistic electromagnetic environment, realizing the mapping of simulation devices and aerial devices, and providing support for the development of digital twins.

[0153] It can be understood that the detailed functional implementation of each of the above-mentioned units / modules can be found in the introduction of the aforementioned method embodiment, and will not be repeated here.

[0154] It should be understood that the above-mentioned system is used to execute the methods in the above-mentioned embodiments. The implementation principles and technical effects of the corresponding program modules in the system are similar to those described in the above-mentioned methods. The working process of the system can refer to the corresponding process in the above-mentioned method and will not be repeated here.

[0155] Based on the method in the above embodiment, the present application embodiment provides an electronic device, see Figure 5 The electronic device may include: a processor (Processor) 510, a communication interface (Communications Interface) 520, a memory (Memory) 530 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the method in the above embodiment.

[0156] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0157] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0158] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0159] It is understandable that the processor in the embodiment of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0160] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0161] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0162] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0163] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A mapping method for an aerial device communicating with a ground device, characterized in that: include: Scaling the motion trajectory of the aerial device according to the scaling ratio of the motion trajectory of the aerial device communicating with the ground device to generate a trajectory of a simulation device for simulating the aerial device in a simulation environment; The radio parameters are scaled according to the scaling ratio of the radio parameters of the air device to configure the communication system of the simulated device in the simulation environment.

2. The mapping method according to claim 1, characterized in that: In a case where the scaling ratio of the motion trajectory includes a first scaling ratio corresponding to the position of the aerial device in the three-dimensional space and a second scaling ratio corresponding to the speed of the aerial device in the three-dimensional space, scaling the motion trajectory of the aerial device according to the scaling ratio of the motion trajectory of the aerial device communicating with the ground device to generate a trajectory of a simulated device for simulating the aerial device in a simulation environment includes: scaling the position of the aerial device in the three-dimensional space according to the first scaling ratio to obtain the position of the simulated device; scaling the speed of the aerial device in the three-dimensional space according to the second scaling ratio to obtain the speed of the simulated device; A trajectory of the simulated device for simulating the aerial device is generated in a simulation environment according to the position of the simulated device and the speed of the simulated device.

3. The mapping method according to claim 2, characterized in that: Scaling the position of the aerial device in the three-dimensional space according to the first scaling ratio to obtain the position of the simulated device includes: The position P of the aerial device in three-dimensional space is calculated based on the following formula: real (x r ,y r ,z r ) to zoom in and out and obtain the position of the simulated device: P drone (x d ,y d ,z d )=P real (x r ·S s ,y r ·S s ,z r ·S s ); Among them, P drone (x d ,y d ,z d ) is the position of the simulation device, xd, yd and zd are the horizontal coordinate, vertical coordinate and vertical coordinate of the simulation device in three-dimensional space respectively, x r ,y r and z r are the horizontal coordinate, vertical coordinate and vertical coordinate of the aerial device in three-dimensional space, respectively, s is the first scaling ratio; Accordingly, scaling the speed of the aerial device in three-dimensional space according to the second scaling ratio to obtain the speed of the simulated device includes: The speed of the aerial device in three-dimensional space is calculated based on the following formula: Scaling to get the speed of the simulated device: in, is the speed of the simulated device, and are the velocity components of the simulated device in the x-direction, y-direction and z-direction respectively, and are the velocity components of the aerial device in the x, y and z directions respectively, S v is the second zoom ratio.

4. The mapping method according to claim 1, characterized in that: In a case where the scaling ratio of the radio parameters includes a third scaling ratio corresponding to the frequency of the air device and a fourth scaling ratio corresponding to the power of the air device, scaling the radio parameters according to the scaling ratio of the radio parameters of the air device to configure the communication system of the simulated device in the simulation environment includes: Scaling the frequency in the radio parameters of the aerial device according to the third scaling ratio to obtain the frequency of the simulated device; Scaling the power in the radio parameters of the aerial device according to the fourth scaling ratio to obtain the power of the simulated device; A communication system of the simulated device is configured in the simulation environment according to the frequency of the simulated device and the power of the simulated device.

5. The mapping method according to claim 4, characterized in that: Scaling the frequency in the radio parameter of the aerial device according to the third scaling ratio to obtain the frequency of the simulated device includes: The frequency of the simulated device is obtained based on the following formula: f drone =f real ·S f ; Among them, f real is the frequency of the aerial device, S f is the third scaling factor, f drone is the frequency of the analog device; Accordingly, scaling the power in the radio parameters of the aerial device according to the fourth scaling ratio to obtain the power of the analog device includes: The power of the simulated device is obtained based on the following formula: P drone =P·S p ; Wherein, P is the power of the aerial device, P drone is the power of the simulated device, S p is the fourth scaling ratio.

6. The mapping method according to any one of claims 1 to 5, characterized in that: Also includes: Based on the position of the aerial device in three-dimensional space and the current position of the load on the simulation device, the alignment angle and direction vector of the load are determined so that the radiation direction of the load is consistent with the radiation direction of the aerial device.

7. The mapping method according to claim 6, characterized in that: Determining the alignment angle and direction vector of the load according to the position of the aerial device in the three-dimensional space and the current position of the load on the simulation device includes: The alignment angle and direction vector of the load are obtained based on the following formula: θ=arctan2(y r -y p ,x r -x p ): Where θ is the alignment angle, is the direction vector, P real (x r ,y r ,z r ) is the position of the aerial device in three-dimensional space, x r ,y r and z r are the horizontal coordinate, vertical coordinate and vertical coordinate of the aerial device in three-dimensional space, respectively, payload (x p ,y p ,z p ) is the current position of the load, x p ,y p and z p are the horizontal, vertical and vertical coordinates of the load in three-dimensional space respectively.

8. A mapping system for an aerial device communicating with a ground device, characterized in that: include: A first mapping module, configured to scale the motion trajectory of the aerial device according to a scaling ratio of the motion trajectory of the aerial device, so as to generate a trajectory of a simulation device for simulating the aerial device in a simulation environment; The second mapping module is used to scale the radio parameters according to the scaling ratio of the radio parameters of the air device to configure the communication system of the simulated device in the simulation environment.

9. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the mapping method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program runs on a processor, the processor is enabled to execute the mapping method according to any one of claims 1 to 7.

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