A mapping method and system for aerial devices in communication with ground devices

Abstract

The application belongs to the technical field of semi-physical simulation, and specifically discloses a mapping method and system of an aerial device in communication with a ground device. According to the application, the aerial device in communication with the ground device is simulated by using a simulation device, the motion track of the aerial device is scaled according to the scaling ratio of the aerial device, and the radio parameter of the aerial device is scaled according to the scaling ratio of the radio parameter of the aerial device, so as to map the motion track and the radio parameter of the aerial device into a simulation environment simulating a complex electromagnetic environment according to the corresponding scaling ratios, provide a more real electromagnetic environment for a user, realize the mapping of the simulation device and the aerial device, and provide support for the development of digital twinning.

Description

Technical Field

[0001] This application belongs to the field of hardware-in-the-loop simulation technology, and more specifically, relates to a mapping method and system for aerial devices that communicate with ground equipment. Background Technology

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

[0003] Currently, virtual-real mapping models are widely used in digital twin systems. However, in systems simulating complex electromagnetic environments, there is limited research on virtual-real mapping of airborne equipment (such as airborne radar and communication targets) communicating with ground equipment, and virtual-real mapping models for airborne equipment are lacking. How to map real airborne equipment onto systems simulating complex electromagnetic environments to provide users with a more realistic electromagnetic environment and support the development of digital twins remains an unsolved problem. Summary of the Invention

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

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

[0006] The motion trajectory of the airborne equipment is scaled according to the scaling factor of the motion trajectory of the airborne equipment communicating with the ground equipment, so as to generate the trajectory of the simulated equipment for simulating the airborne equipment in the simulation environment.

[0007] The radio parameters are scaled according to the scaling factor of the radio parameters of the airborne equipment to configure the communication system of the simulated equipment in the simulation environment.

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

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

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

[0011] Based on the location and speed of the simulated equipment, the trajectory of the simulated equipment is generated in the simulation environment to simulate the aerial equipment.

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

[0013] Based on the first scaling ratio, the position of the aerial device in three-dimensional space is scaled to obtain the position of the simulated device, including:

[0014] The position P of the aerial equipment in three-dimensional space is determined based on the following formula. real (x r ,y r ,z r Scaling is performed to obtain the location 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 Let xd, yd, and zd be the position of the simulated device, respectively, representing the horizontal, vertical, and angular coordinates of the simulated device in three-dimensional space. r y r and z r These represent the x, y, and y coordinates of the aerial device in three-dimensional space, respectively. s This is the first scaling factor;

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

[0018] The velocity of aerial equipment in three-dimensional space is based on the following formula. Scaling is performed to obtain the speed of the simulated device:

[0019]

[0020] in, To simulate the speed of the device, and These represent the velocity components of the simulated device in the x, y, and z directions, respectively. and S represents the velocity components of the airborne equipment in the x, y, and z directions, respectively. v This is the second scaling factor.

[0021] In some embodiments, where the scaling factor for the radio parameters includes a third scaling factor corresponding to the frequency of the airborne device and a fourth scaling factor corresponding to the power of the airborne device, scaling the radio parameters according to the scaling factor for the radio parameters of the airborne device to configure the communication system of the simulated device in the simulation environment includes:

[0022] Based on the third scaling factor, the frequencies in the radio parameters of the airborne equipment are scaled to obtain the frequencies of the analog equipment;

[0023] Based on the fourth scaling factor, the power in the radio parameters of the airborne equipment is scaled to obtain the power of the analog equipment;

[0024] Configure the communication system of the analog device in the simulation environment based on the frequency and power of the analog device.

[0025] In some embodiments, scaling the frequencies in the radio parameters of the airborne device according to a third scaling ratio to obtain the frequencies of the analog device includes:

[0026] The frequency of the analog device is obtained based on the following formula:

[0027] f drone =f real ·S f ;

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

[0029] Accordingly, the power in the radio parameters of the airborne equipment is scaled according to the fourth scaling factor to obtain the power of the analog equipment, including:

[0030] The power of the analog device is obtained using the following formula:

[0031] P drone =P·S p;

[0032] Where P is the power of the airborne equipment, P drone S represents the power of the analog device. p This is the fourth scaling factor.

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

[0034] Based on the position of the airborne equipment in three-dimensional space and the current position of the load on the simulated equipment, determine the alignment angle and direction vector of the load so that the radiation direction of the load is consistent with the radiation direction of the airborne equipment.

[0035] In some embodiments, determining the alignment angle and direction vector of the load based on the position of the airborne equipment in three-dimensional space and the current position of the load on the simulated equipment 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. Let P be the direction vector. real (x r ,y r ,z r x represents the position of the aerial device in three-dimensional space. r y r and z r These represent the x, y, and y coordinates of the aerial device in three-dimensional space, respectively. payload (x p ,y p ,z p ) represents the current position of the load, x p y p and z p These represent the horizontal, vertical, and axial coordinates of the load in three-dimensional space, respectively.

[0040] Secondly, this application provides a mapping system for airborne equipment that communicates with ground equipment, comprising:

[0041] The first mapping module is used to scale the motion trajectory of the air device according to the scaling ratio of the motion trajectory of the air device, so as to generate the trajectory of the simulated device for simulating the air device in the 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 in order to configure the communication system of the simulated device in the simulation environment.

[0043] Thirdly, this application provides an electronic device, comprising: at least one memory for storing a program; and at least one processor for executing the program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to execute the mapping method described in the first aspect or any of the embodiments of the first aspect.

[0044] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to perform the mapping method described in the first aspect or any of the embodiments of the first aspect.

[0045] Fifthly, this application provides a computer program product that, when run on a processor, causes the processor to execute the mapping method described in the first aspect or any of the embodiments of the first aspect.

[0046] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art:

[0047] This application provides a mapping method and system for aerial devices communicating with ground equipment. By using analog equipment to simulate aerial devices communicating with ground equipment, the motion trajectory of the aerial devices is scaled according to the scaling ratio of the aerial devices, and the radio parameters of the aerial devices are scaled according to the scaling ratio of the radio parameters of the aerial devices. This maps the motion trajectory and radio parameters of the aerial devices onto a simulation environment simulating a complex electromagnetic environment, providing users with a more realistic electromagnetic environment, realizing the mapping between analog equipment and aerial devices, and supporting the development of digital twins. Attached Figure Description

[0048] Figure 1 This is a flowchart illustrating a mapping method for an airborne device communicating with ground equipment, as provided in an embodiment of this application.

[0049] Figure 2 This is a schematic diagram of a typical simulated complex electromagnetic environment scenario provided in the embodiments of this application;

[0050] Figure 3 This is a simplified model diagram of a typical simulated complex electromagnetic environment scenario provided in the embodiments of this application;

[0051] Figure 4 This is a schematic diagram of the structure of a mapping system for an airborne device that communicates with ground equipment, provided in an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0054] In this article, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The symbol " / " in this article indicates that the related objects are in an "or" relationship; for example, A / B means A or B.

[0055] The terms "first" and "second," etc., used in the specification and claims herein are used to distinguish different objects, not to describe a specific order of objects. For example, "first scaling ratio" and "second scaling ratio," etc., are used to distinguish different scaling ratios, not to describe a specific order of scaling ratios.

[0056] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0057] In the description of the embodiments in this application, unless otherwise stated, "multiple" means two or more.

[0058] The embodiments of this application are described below with reference to the accompanying drawings.

[0059] See Figure 1 The mapping method for an airborne device that communicates with ground equipment provided in this application embodiment may include steps 110 and 120.

[0060] Step 110: Scale the motion trajectory of the airborne equipment according to the scaling ratio of the motion trajectory of the airborne equipment communicating with the ground equipment, so as to generate the trajectory of the simulated equipment for simulating the airborne equipment in the simulation environment.

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

[0062] In this embodiment, the airborne equipment can be an airborne radar and a communication target. The ground equipment can specifically be a ground-based sensing device, including reconnaissance equipment and other sensing devices.

[0063] Please see further. Figure 2 When ground sensing device 1 conducts reconnaissance of airborne device 3, simulation device 2 is used to simulate airborne device 3. This complex electromagnetic environment scenario can be simplified as follows: Figure 3 This describes the relationship between reconnaissance equipment 11, simulation equipment 2, airborne equipment 3, and other sensing devices 12 (such as the monitor built into simulation equipment 2). The scenario is described as follows: Airborne equipment 3 radiates electromagnetic signals (such as radar / communication / data link signals), which are detected and identified by reconnaissance equipment 11, and then interfered with according to relevant instructions. In the simulation environment, the electromagnetic signals in this process can be equated to: simulation equipment 2 carrying a radiation source (such as a payload) emitting radiation signals (such as radar / communication / data link signals), which are detected and identified by reconnaissance equipment 11, and then interfered with according to a strategy. This process can also be observed by other sensing devices 12, allowing for monitoring and evaluation.

[0064] In this embodiment of the application, the simulation device can be a drone.

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

[0066] 1. Geometric Relationships

[0067] Assume that the reconnaissance equipment 11 is located at locations A and M. i and O i They lie on a straight line and form similar triangles. That is to say, when observing from position A, M... i and O i They have the same pitch and azimuth angles. Simultaneously, when aerial device 3 moves from O1 to O... i At that time, there were:

[0068]

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

[0070] 2. Due to time constraints

[0071] During the space simulation, aerial device 3 moves from O1 to O i Requires simulation equipment 2, such as a drone moving from M1 to M i That is, the following time relationships exist:

[0072] t O1Oi =t M1Mi

[0073] Among them, t O1Oi For aerial device 3 to move from O1 to O i Time, t M1Mi For the simulation device 2 to move from M1 to M i The time.

[0074] 3. Vector Relationships

[0075] Based on the above geometric and temporal relationships, and considering the motion characteristics of aerial device 3 and simulation device 2, as well as directionality, the vector relationship between simulation device 2 (e.g., UAV) and aerial device 3 can be obtained, including the velocity vector and acceleration vector generated by the above relationships.

[0076] 4. Electromagnetic signal relationship

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

[0078] Based on the above relationships, we can obtain the various parameters necessary for the UAV and payload to simulate complex electromagnetic environments, including flight parameters and payload signal parameters.

[0079] Therefore, the core problem addressed in this application is the mapping between the real and virtual environments. The key to this mapping lies in accurately mapping the parameters of the aerial target 3 to the simulation environment constructed using 3D 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 features of the aerial device 3, a mathematical model for parameter mapping is established to ensure accurate reproduction of the real-world scenario in the simulation.

[0080] STK is a powerful tool that 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] To achieve virtual-real mapping, this embodiment of the application requires constructing a UAV model in STK. This model includes not only the external geometry of the UAV but also key parameters such as its dynamic characteristics and communication capabilities. Through reasonable scaling and mapping algorithms, this embodiment of the application enables the UAV to simulate the motion trajectory and radiation behavior of aerial device 3 in a simulation environment. This process is crucial for achieving the realism and credibility of the simulation. In the design of the STK virtual-real mapping model, the mapping algorithm is a vital component. The following describes the scaling algorithm model for simulating the motion trajectory of aerial device 3 and the scaling algorithm model for the radio parameters of the radiation source.

[0082] 1. Algorithm model for rescaling the motion trajectory of simulated aerial equipment 3

[0083] When mapping the motion trajectory of aerial device 3 onto a drone in a simulation environment, the size and speed differences between aerial device 3 and the drone need to be considered. A scaling algorithm model can scale the motion trajectory of aerial device 3 according to a certain scaling ratio to adapt to the size and speed of the drone, and generate the trajectory of a simulated device 2, such as a drone, in the simulation environment to simulate aerial device 3.

[0084] 2. Scaled-down algorithm model of radio parameters of radiation source

[0085] The mapping of radiation sources in aerial device 3, especially the mapping of radio parameters, needs to take into account the communication capabilities and performance of simulation device 2, such as drones. A scaling algorithm for the radio parameters of the radiation sources can map the radio parameters of aerial device 3 onto the drone to ensure that the communication behavior in the simulation environment matches the real-world scenario.

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

[0087] This application provides a mapping method for an airborne device communicating with ground equipment. By using a simulation device to simulate the airborne device communicating with the ground equipment, the motion trajectory of the airborne device is scaled according to the scaling ratio of the airborne device, and the radio parameters of the airborne device are scaled according to the scaling ratio of the radio parameters of the airborne device. This maps the motion trajectory and radio parameters of the airborne device onto a simulation environment simulating a complex electromagnetic environment, providing users with a more realistic electromagnetic environment, realizing the mapping between the simulation device and the airborne device, and supporting the development of digital twins.

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

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

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

[0091] Based on the location and speed of the simulated equipment, the trajectory of the simulated equipment is generated in the simulation environment to simulate the aerial equipment.

[0092] In practice, the motion parameters of the aerial device 3 can be obtained, including its position, velocity, acceleration, etc. in three-dimensional space.

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

[0094] Based on the second scaling factor corresponding to the velocity of the aerial device 3 in three-dimensional space, the velocity of the aerial device 3 in three-dimensional space is scaled to obtain the velocity of the simulated device 2 in the simulation environment.

[0095] Based on the position and speed of the simulated device 2 obtained above, the 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 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 equipment in three-dimensional space is determined based on the following formula. real (x r ,y r ,z r Scaling is performed to obtain the location 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 Let xd, yd, and zd be the position of the simulated device, respectively, representing the horizontal, vertical, and angular coordinates of the simulated device in three-dimensional space. r y r and z r These represent the x, y, and y coordinates of the aerial device in three-dimensional space, respectively. s This is the first scaling factor;

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

[0101] The velocity of aerial equipment in three-dimensional space is based on the following formula. Scaling is performed to obtain the speed of the simulated device:

[0102]

[0103] in, To simulate the speed of the device, and These represent the velocity components of the simulated device in the x, y, and z directions, respectively. and S represents the velocity components of the airborne equipment in the x, y, and z directions, respectively. v This is the second scaling factor.

[0104] For example, suppose the position of the acquired aerial device 3 in three-dimensional space is P. real (x r ,y r ,z r The velocity of aerial device 3 in three-dimensional space is... The acceleration of aerial device 3 in three-dimensional space can be obtained based on its position and velocity in three-dimensional space, assuming it is... These represent the acceleration components of the airborne device 3 in the x, y, and z directions, respectively. Assume the first scaling factor is S. s The second scaling factor is S v Then the position of simulation device 2 can be represented 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 Let xd, yd, and zd be the position of the simulated device, respectively, representing the horizontal, vertical, and angular coordinates of the simulated device in three-dimensional space. r y r and z r These represent the horizontal, vertical, and axial coordinates of the aerial device in three-dimensional space.

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

[0108]

[0109] in, To simulate the speed of the device, and These represent the velocity components of the simulation device in the x, y, and z directions, respectively, V xr V yr and V zr These represent the velocity components of the airborne equipment in the x, y, and z directions, respectively.

[0110] This application embodiment utilizes the mature 3D scene simulation software STK to create unit models of aerial equipment against a 2D or 3D map background. It constructs the interaction process between aerial equipment 3 and ground equipment, and through simulation, analysis, and calculation, obtains the characteristics and change patterns of each unit module in the hypothetical scenario, as well as the strategies of the ground equipment, to generate relevant training subjects. These are then abstracted into scaled-down models corresponding to the aerial and ground equipment, and the motion trajectories of the aerial equipment and the UAV under the scaled-down model conditions are obtained, specifically as follows... Figure 2 As shown.

[0111] Furthermore, in some embodiments, where the scaling ratio of the radio parameters includes a third scaling ratio corresponding to the frequency of the airborne device and a fourth scaling ratio corresponding to the power of the airborne device, the above step of scaling the radio parameters according to the scaling ratio of the airborne device's radio parameters to configure the communication system of the simulated device in the simulation environment may include:

[0112] Based on the third scaling factor, the frequencies in the radio parameters of the airborne equipment are scaled to obtain the frequencies of the analog equipment;

[0113] Based on the fourth scaling factor, the power in the radio parameters of the airborne equipment is scaled to obtain the power of the analog equipment;

[0114] Configure the communication system of the analog device in the simulation environment based on the frequency and power of the analog device.

[0115] In practice, analyzing the radio parameters of the radiation source of the airborne device 3 can specifically include frequency, power, modulation method, etc.

[0116] Based on the communication capabilities and technical specifications of the UAV, the third scaling factor corresponding to the frequency and the fourth scaling factor corresponding to the power in the radio parameters of the three radiation sources of the airborne device can be obtained.

[0117] Using the third scaling factor obtained above, the frequency of the air device 3 is scaled to obtain the frequency of the analog device 2.

[0118] Using the fourth scaling factor obtained above, the power of the air device is scaled to obtain the power of the simulation device 2.

[0119] Furthermore, in some embodiments, in the above steps, scaling the frequency in the radio parameters of the airborne device according to the third scaling ratio to obtain the frequency of the analog device includes:

[0120] The frequency of the analog device is obtained based on the following formula:

[0121] f drone =f real ·S f ;

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

[0123] Accordingly, in the above steps, scaling the power in the radio parameters of the airborne equipment according to the fourth scaling ratio to obtain the power of the analog equipment includes:

[0124] The power of the analog device is obtained using the following formula:

[0125] P drone =P·S p ;

[0126] Where P is the power of the airborne equipment, P drone S represents the power of the analog device. pThis is the fourth scaling factor.

[0127] For example, assume that the frequency of the radiation source of the acquired airborne device 3 is f. real The power of the radiation source of aerial device 3 is P, and the third scaling factor is S. f The fourth scaling factor is S p Then the power of simulation device 2 can be expressed as:

[0128] f drone =f real ·S f ;

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

[0130] P drone =P·S p .

[0131] After scaling the frequency and power of 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 based on the obtained power and frequency of the simulated device 2.

[0132] This application provides a mapping method for airborne equipment that communicates with ground equipment. This method can accurately map the key features of the airborne equipment onto the simulated equipment in the simulation environment, thereby realizing the construction and implementation of a virtual-real mapping model. This provides a more realistic and effective simulation environment, offering better training and testing scenarios for decision-makers and operators.

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

[0134] Based on the position of the airborne equipment in three-dimensional space and the current position of the load on the simulated equipment, determine the alignment angle and direction vector of the load so that the radiation direction of the load is consistent with the radiation direction of the airborne equipment.

[0135] In the specific implementation, to further enhance the realism of the simulation during virtual-real mapping, this application's embodiments introduce a design for automatic payload alignment with the target. An algorithm is used to automatically adjust the payload alignment with the aerial equipment. This includes real-time adjustment of parameters such as the alignment angle and direction vector of the payload on the UAV to maintain consistency between the payload's radiation direction and the aerial equipment's radiation direction. Specifically, the payload's radiation direction is the direction in which it transmits radiated signals to the ground equipment, while the aerial equipment's radiation direction is the direction in which its radiation source sends radiated signals to the ground equipment.

[0136] In this embodiment, the alignment angle and direction vector of the load are adjusted according to the position of the airborne 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 airborne device 3.

[0137] Furthermore, in some embodiments, the steps described above, determining the alignment angle and direction vector of the load based on the position of the aerial device in three-dimensional space and the current position of the load on the simulated device, include:

[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. Let P be the direction vector. real (x r ,y r ,z r x represents the position of the aerial device in three-dimensional space. r y r and z r These represent the x, y, and y coordinates of the aerial device in three-dimensional space, respectively. payload (x p ,y p ,z p ) represents the current position of the load, x p y p and z p These represent the horizontal, vertical, and axial coordinates of the load in three-dimensional space, respectively.

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

[0143] Assume the position of the aerial device 3, which the payload needs to align with, 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 Let x, y, and y be the abscissa, ordinate, and ordinate of the load in three-dimensional space, respectively. Then, 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. Here, is the direction vector, and arctan2 is the arctangent function used to calculate the direction vector.

[0147] The embodiments of this application provide a mapping of aerial devices that communicate with ground equipment, which enables payloads on UAVs to automatically track and align with simulated aerial devices, improving the realism and practicality of the simulated electromagnetic environment, and providing a more accurate and realistic simulation environment for the application, training and testing of sensing devices.

[0148] The mapping system for airborne equipment communicating with ground equipment provided by the present invention will be described below. The mapping system for airborne equipment communicating with ground equipment described below can be referred to in correspondence with the mapping method for airborne equipment communicating with ground equipment described above.

[0149] See Figure 4 The mapping system for an airborne device that communicates with ground equipment, provided in this application embodiment, may include: a first mapping module 410 and a second mapping module 420.

[0150] The first mapping module 410 is used to scale the motion trajectory of the air device according to the scaling ratio of the motion trajectory of the air device, so as to generate the trajectory of the simulated device for simulating the air device in the 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 in order to configure the communication system of the simulated device in the simulation environment.

[0152] This application provides a mapping system for aerial devices communicating with ground equipment. By using a simulation device to simulate the aerial device communicating with the ground equipment, the system 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. This maps the motion trajectory and radio parameters of the aerial device onto a simulation environment simulating a complex electromagnetic environment, providing users with a more realistic electromagnetic environment, realizing the mapping between the simulation device and the aerial device, and supporting the development of digital twins.

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

[0154] It should be understood that the above system is used to execute the methods in the above embodiments. The corresponding program modules in the system are similar in implementation principle and technical effect to those described in the above methods. The working process of the system can be referred to the corresponding process in the above methods, and will not be repeated here.

[0155] Based on the methods in the above embodiments, this application provides an electronic device, see [link to relevant documentation]. Figure 5 The electronic device may include a processor 510, a communications interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communications interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 may call logical instructions in the memory 530 to execute the methods described in the above embodiments.

[0156] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0157] Based on the methods in the above embodiments, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to execute the methods in the above embodiments.

[0158] Based on the methods in the above embodiments, this application provides a computer program product that, when run on a processor, causes the processor to execute the methods in the above embodiments.

[0159] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0160] The method steps in this application embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which 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, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from 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 reside in an ASIC.

[0161] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially 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, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0162] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0163] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A mapping method of an aerial device in communication with a ground device, the method comprising: The method comprises: scaling a motion trajectory of an aerial device in communication with a ground device according to a scaling ratio of the motion trajectory of the aerial device to generate a trajectory of a simulation device for simulating the aerial device in a simulation environment; scaling radio parameters of the aerial device according to a scaling ratio of the radio parameters to configure a communication system of the simulation device in the simulation environment; in a case where the scaling ratio of the radio parameters comprises a third scaling ratio corresponding to a frequency of the aerial device and a fourth scaling ratio corresponding to a power of the aerial device, the scaling the radio parameters of the aerial device according to the scaling ratio of the radio parameters to configure the communication system of the simulation device in the simulation environment comprises: scaling the frequency in the radio parameters of the aerial device according to the third scaling ratio to obtain a frequency of the simulation device; scaling the power in the radio parameters of the aerial device according to the fourth scaling ratio to obtain a power of the simulation device; configuring the communication system of the simulation device in the simulation environment according to the frequency of the simulation device and the power of the simulation device; the scaling the frequency in the radio parameters of the aerial device according to the third scaling ratio to obtain the frequency of the simulation device comprises: obtaining the frequency of the simulation device based on the following formula: ； wherein, is a frequency of the aerial device, is the third scaling ratio, is a frequency of the analog device; correspondingly, the scaling the power in the radio parameters of the aerial device according to the fourth scaling ratio to obtain the power of the simulation device comprises: obtaining the power of the simulation device based on the following formula: ； wherein, is the power of the aerial device, is the power of the analog device, is the fourth scaling ratio.

2. The mapping method of claim 1, wherein, in a case where the scaling ratio of the motion trajectory comprises a first scaling ratio corresponding to a position of the aerial device in a three-dimensional space and a second scaling ratio corresponding to a speed of the aerial device in the three-dimensional space, the scaling the motion trajectory of the aerial device in communication with the ground device according to the scaling ratio of the motion trajectory to generate the trajectory of the simulation device for simulating the aerial device in the simulation environment comprises: scaling the position of the aerial device in the three-dimensional space according to the first scaling ratio to obtain a position of the simulation device; scaling the speed of the aerial device in the three-dimensional space according to the second scaling ratio to obtain a speed of the simulation device; generating the trajectory of the simulation device for simulating the aerial device in the simulation environment according to the position of the simulation device and the speed of the simulation device.

3. The mapping method of claim 2, wherein, the scaling the position of the aerial device in the three-dimensional space according to the first scaling ratio to obtain the position of the simulation device comprises: Based on the following equation to the position of the aerial device in three-dimensional space scaling, obtaining the position of the simulated device: ； wherein is a position of the simulated device, , and are a horizontal coordinate, a vertical coordinate and a vertical coordinate, respectively, of the simulated device in a three-dimensional space, , and are a horizontal coordinate, a vertical coordinate and a vertical coordinate, respectively, of the aerial device in a three-dimensional space, is a first scaling ratio; correspondingly, the scaling the speed of the aerial device in the three-dimensional space according to the second scaling ratio to obtain the speed of the simulation device comprises: Based on the following equation, the speed of the aerial device in three-dimensional space is scaled to obtain the speed of the simulated device: v = v * (d / D) wherein is the speed of the simulated device, , and are the speed components of the simulated device in direction, direction and direction respectively, , and are the speed components of the aerial device in direction, direction and direction respectively, is a second scaling ratio.

4. The mapping method according to any one of claims 1 to 3, characterized in that, The method further comprises: determining an alignment angle and a direction vector of a payload on the simulation device according to the position of the aerial device in the three-dimensional space and a current position of the payload to keep a radiation direction of the payload consistent with a radiation direction of the aerial device.

5. The mapping method of claim 4, wherein, The determining the alignment angle and the 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 comprises: The alignment angle and the direction vector of the load are obtained based on the following formula: ； ； wherein is the alignment angle, is the direction vector, is the position of the aerial device in three-dimensional space, , and are the horizontal, vertical and vertical coordinates of the aerial device in three-dimensional space, respectively, is the current position of the payload, , and are the horizontal, vertical and vertical coordinates of the payload in three-dimensional space, respectively, is the arctangent function used to calculate the direction vector.

6. A mapping system of an aerial device in communication with a ground device, characterized by, The method comprises: The first mapping module is configured to scale the motion trajectory of the aerial device according to a scaling ratio of the motion trajectory of the aerial device, to generate a trajectory of a simulation device for simulating the aerial device in a simulation environment; The second mapping module is configured to scale radio parameters of the aerial device according to a scaling ratio of the radio parameters, to configure a communication system of the simulation device in the simulation environment; In a case where the scaling ratio of the radio parameters comprises a third scaling ratio corresponding to a frequency of the aerial device and a fourth scaling ratio corresponding to a power of the aerial device, the scaling the radio parameters of the aerial device according to the scaling ratio of the radio parameters, to configure the communication system of the simulation device in the simulation environment, comprises: scaling the frequency in the radio parameters of the aerial device according to the third scaling ratio, to obtain a frequency of the simulation device; scaling the power in the radio parameters of the aerial device according to the fourth scaling ratio, to obtain a power of the simulation device; configuring the communication system of the simulation device in the simulation environment according to the frequency of the simulation device and the power of the simulation device; The scaling the frequency in the radio parameters of the aerial device according to the third scaling ratio, to obtain a frequency of the simulation device, comprises: The frequency of the simulation device is obtained based on the following formula: ； wherein, is a frequency of the aerial device, is the third scaling ratio, is a frequency of the analog device; Correspondingly, the scaling the power in the radio parameters of the aerial device according to the fourth scaling ratio, to obtain a power of the simulation device, comprises: The power of the simulation device is obtained based on the following formula: ； wherein, is the power of the aerial device, is the power of the analog device, is the fourth scaling ratio.

7. An electronic device, comprising: The method comprises: at least one memory for storing a computer program; at least one processor for executing the program stored in the memory, and when the program stored in the memory is executed, the processor is configured to perform the mapping method according to any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising: When the computer program runs on the processor, the processor is caused to perform the mapping method according to any one of claims 1-5.

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