A digital twin-based electronic sand table command system

Abstract

The present invention relates to the field of digital twin technology, and specifically, to a digital twin-based electronic sand table command system. It includes: a combat unit for obtaining the physical status, real-time location of combat personnel, and real-time images of the enemy; a sand table unit for converting a DIS map into a three-dimensional map, and at the same time displaying and real-time updating the real-time location of the received combat unit and the real-time images of the enemy in the three-dimensional map, thereby generating the movement trajectory of the enemy; a command unit, according to the movement trajectory of the enemy, inputs task instructions in the three-dimensional map of the sand table unit and selects the combat personnel to execute the task, and transmits it to the combat unit. This system not only considers the detection accuracy of different cameras, but also improves the robustness of the model, thereby providing more accurate positioning results in complex environments, and can achieve efficient battlefield management and command, improving the combat efficiency and success rate.

Description

Technical Field

[0001] The present invention relates to the technical field of digital twins, and more specifically, to a digital twin-based electronic sand table command system. Background Art

[0002] Modern military operations increasingly rely on efficient and accurate command and control systems. Traditional command systems usually rely on paper maps, radio communications, and manual reports, which have obvious deficiencies in terms of information transmission speed, accuracy, and real-time performance. With the development of information technology, electronic sand table command systems have emerged and become important tools for modern military command. Although electronic sand table command systems have made significant progress in improving information transmission speed and accuracy, they still face some challenges in practical applications. Especially in complex and changing battlefield environments, the accuracy of target positioning and the robustness of the model are still key issues. These problems not only affect the accuracy of command decisions but also limit the overall effectiveness of the system. In existing electronic sand table command systems, there are large errors in the display of the positions of targets (such as enemies and combatants) on the electronic sand table, resulting in a decrease in the accuracy of command decisions, and the target positions captured by different cameras are inconsistent, making it difficult to form an accurate three-dimensional positioning. Therefore, a digital twin-based electronic sand table command system is designed. Summary of the Invention

[0003] The purpose of the present invention is to provide a digital twin-based electronic sand table command system to solve the problems raised in the above background art, namely, large errors in the display of the positions of targets (such as enemies and combatants) on the electronic sand table, resulting in a decrease in the accuracy of command decisions, and the target positions captured by different cameras are inconsistent, making it difficult to form an accurate three-dimensional positioning.

[0004] To achieve the above purpose, the present invention aims to provide a digital twin-based electronic sand table command system, including:

[0005] Combat units, which are used to obtain the physical status, real-time position of combatants, and real-time images of enemies, and transmit the physical status, real-time position of combatants, and real-time images of enemies to the sand table unit;

[0006] Sand table unit, which is used to obtain the GIS map of the target area, convert the DIS map into a three-dimensional map, and at the same time display the real-time position of combatants and the real-time images of enemies received in the three-dimensional map and update them in real time, and then generate the movement trajectory of enemies;

[0007] The sand table unit includes a map display module, a position determination module, a target tracking module, and an analysis and alarm module;

[0008] The analysis and alarm module is used to receive the physical status of combatants transmitted by the combat unit and issue an alarm in case of abnormal situations;

[0009] Specifically: The analysis and alarm module receives the distance between the enemy position transmitted by the position determination module and the combatants. When the distance is less than the preset safe distance, an alarm is issued, and the position point of the abnormal combatant blinks on the 3D map. At the same time, when an alarm is issued due to the abnormal physical status of the combatant, not only does the position point of the abnormal combatant blink on the 3D map, but also an alarm sound is emitted;

[0010] The command unit inputs task instructions and selects the combatants to execute the tasks on the 3D map of the sand table unit according to the movement trajectory of the enemy, and transmits them to the combat unit. Among them, the task instructions include the target position, execution route, execution time, and alarm signal.

[0011] As a further improvement of this technical solution, the combat unit includes a number of positioning modules, on which there are monitoring modules and terminals. The positioning module is used to obtain the real-time position of the combatants. The monitoring module collects real-time images of the enemy through a camera. The terminal is used to monitor the physical status of the combatants and can receive the task instructions of the command unit.

[0012] As a further improvement of this technical solution, in the sand table unit:

[0013] The map display module is used to obtain the GIS map of the target area through GIS software and convert the GIS map into a 3D map for display;

[0014] The position determination module is used to identify the position of the enemy through the images collected by the monitoring module, display the position of the enemy and the position of the combatants transmitted by the combat unit on the map display module, and at the same time, monitor the distance between the enemy position and the combatants;

[0015] The target tracking module is used to analyze the movement trajectory of the enemy according to the received enemy position information and display the generated movement trajectory on the 3D map in real time.

[0016] As a further improvement of this technical solution, the conversion of the GIS map into a 3D map for display in the map display module is as follows:

[0017] Obtain the two-dimensional data in the GIS map and the elevation data of the target area. Among them, the elevation data is:

[0018] ;

[0019] Among them, is the final elevation value; is the weight of the th layer; is the elevation value of the th layer; is the enhancement factor; is the number of layers; ;

[0020] Convert the two-dimensional coordinate data and elevation data into three-dimensional coordinates, use modeling software to generate a three-dimensional model and perform rendering.

[0021] As a further improvement of this technical solution, the value of the enhancement factor is specifically: when the status type of the target area is urban, then ; when the status type of the target area is forest, then ; when the status type of the target area is mountain, then ; when the status type of the target area is water area, then .

[0022] As a further improvement of this technical solution, the position determination module identifies the position of the enemy through the images collected by the monitoring module, specifically as follows:

[0023] S1. Perform target detection on the images captured by each camera to identify the target enemy in the images;

[0024] S2. Convert the two-dimensional images of the enemy detected by each camera into normalized coordinates, convert the normalized coordinates into ray direction vectors, and establish the ray equations of each camera. Camera calibration error compensation is introduced during the process of establishing the ray equations of each camera for optimization;

[0025] S3. Use the weighted least squares method and the loss function to minimize the distance between all rays, thereby estimating the three-dimensional coordinates of the enemy.

[0026] As a further improvement of this technical solution, S2 is specifically as follows:

[0027] Convert the two-dimensional images of the enemy detected by each camera into normalized coordinates:

[0028] ;

[0029] ;

[0030] Among them, , is the normalized coordinate of the enemy detected by the th camera; is the inverse matrix of the internal parameter matrix of the th camera; is the The two-dimensional image coordinates of the enemy detected by a camera; is the internal parameter matrix of the th camera; is the focal length of the camera in the horizontal direction; is the focal length of the camera in the vertical direction; is the abscissa of the image center; is the ordinate of the image center;

[0031] Convert the normalized coordinates to the ray direction vector:

[0032] ;

[0033] where is the th ray direction vector of the enemy detected by the camera; is the transpose of the rotation matrix of the th camera;

[0034] Establish the ray equation for each camera:

[0035] ;

[0036] where is the th ray equation of the enemy detected by the camera; is the th world coordinate position of the camera; is the parameter on the ray.

[0037] As a further improvement of this technical solution, in step S2, camera calibration error compensation is introduced and optimized during the process of establishing the ray equation for each camera. The specific optimization is as follows:

[0038] ;

[0039] ;

[0040] ;

[0041] where is the internal parameter matrix of the th optimized camera; is the calibration error compensation term of the camera internal parameters; is the rotation matrix of the th optimized camera; is the th camera rotation matrix; is the calibration error compensation term of the rotation matrix; is the The world coordinate position of the -th camera; The world coordinate position of the -th camera;

[0042] Convert the two-dimensional image of the enemy detected by each camera into normalized coordinates:

[0043] ;

[0044] Convert the normalized coordinates into a ray direction vector:

[0045] ;

[0046] Establish the ray equation of each camera:

[0047] ;

[0048] where is the inverse matrix of the internal parameter matrix of the -th optimized camera; is the transpose of the rotation matrix of the -th optimized camera.

[0049] As a further improvement of this technical solution, the S3 is specifically as follows:

[0050] Multi-scale feature fusion:

[0051] ;

[0052] where is the fused feature map; is the number of feature maps; is the number of the -th feature map; is the -th feature map; is the height of the target feature map; is the width of the target feature map; is the upsampling operation;

[0053] Define the error function:

[0054] ;

[0055] where is the error function; is the number of cameras; is the weight of the -th camera; is the three-dimensional coordinate position of the enemy

[0056] Define the Huber loss function to optimize the error function:

[0057] ;

[0058] where, is the Huber loss function; is the error; is the threshold;

[0059] ;

[0060] where, is the optimized error function; is the th error between the ray of the enemy detected by the th camera and the estimated enemy position.

[0061] As a further improvement of this technical solution, in the analysis and alarm module, when an alarm is triggered when the distance is less than the preset safe distance, the position point of the abnormal combatant blinks in the 3D map; when an alarm is triggered when the physical condition of the combatant is abnormal, not only does the position point of the abnormal combatant blink in the 3D map, but also an alarm sound is emitted.

[0062] As a further improvement of this technical solution, the task instruction includes the target position, execution route, execution time, and alarm signal.

[0063] Compared with the prior art, the beneficial effects of the present invention are:

[0064] 1. In the digital twin electronic sand table command system, a closed-loop information flow is formed from the combat unit to the sand table unit and then to the command unit, ensuring the timeliness and accuracy of information. The sand table unit provides decision support for the command unit, and the decisions of the command unit in turn affect the behavior of the combat unit, forming a continuously optimized decision support cycle. Through the collaborative operation of these three units, the entire command system can achieve efficient battlefield management and command, improving the combat efficiency and success rate;

[0065] 2. In the digital twin electronic sand table command system, camera calibration error compensation is introduced and optimized during the process of establishing the ray equation of each camera, which can correct the internal parameter error and improve the accuracy of target positioning, attitude estimation, and position estimation. At the same time, the error function combines the advantages of the weighted least squares method and the Huber loss function, taking into account the detection accuracy of different cameras and improving the robustness of the model, thereby providing more accurate positioning results in complex environments. Description of the Drawings

[0066] Figure 1 This is the overall process block diagram of the present invention;

[0067] The meanings of each label in the figure are as follows:

[0068] 1. Combat unit; 2. Sand table unit; 21. Map display module; 22. Position determination module; 23. Target tracking module; 24. Analysis and alarm module; 3. Command unit. Specific implementation manners

[0069] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0070] Please refer to Figure 1 As shown, a digital twin electronic sand table command system is provided. Digital twin is a technology that connects entities or systems in the physical world with their virtual models. This virtual model is a digital representation of the physical entity or system. Through continuous updates of real-time data and historical data, it can accurately reflect the state, behavior, and performance of the physical entity. The core idea of digital twin is to create a "twin" corresponding to the physical world in the virtual space, so as to realize the monitoring, analysis, prediction, and optimization of the physical world, including combat unit 1, sand table unit 2, and command unit 3; among them:

[0071] The combat unit 1 is used to obtain the physical condition, real-time position of combat personnel, and real-time images of the enemy, and transmit the physical state, real-time position of combat personnel, and real-time images of the enemy to the sand table unit 2;

[0072] The combat unit 1 includes several positioning modules. Monitoring modules and terminals are provided on several positioning modules. The positioning module is used to obtain the real-time position of combat personnel. The monitoring module collects real-time images of the enemy through a camera. The terminal is used to monitor the physical state of combat personnel and can receive task instructions from the command unit 3; each combat personnel carries a positioning module, and at the same time, a monitoring module is installed on the helmet of the combat personnel;

[0073] Real-time monitoring of the physical condition of combat personnel can understand the state of combat personnel in real time, discover abnormal situations in time, and improve the survival rate on the battlefield; by using the terminal and the camera on the helmet, the position of the enemy can be accurately obtained, improving the success rate of tactical operations. Combat personnel can directly receive task instructions from the command unit 3 through the terminal device, reducing the time and error of information transmission.

[0074] The sand table unit 2 is used to obtain the GIS map of the target area, convert the DIS map into a three-dimensional map, and display and update the real-time positions of the combatants and the real-time images of the enemies received on the three-dimensional map in real time, so as to generate the moving trajectories of the enemies.

[0075] Through the display of the three-dimensional map, the commander can more intuitively understand the battlefield situation and make quick decisions. The sand table unit 2 can update the position information of the combatants and the enemies in real time, helping the commander keep abreast of the latest battlefield dynamics at any time.

[0076] The sand table unit 2 includes a map display module 21, a position determination module 22, a target tracking module 23, and an analysis and alarm module 24.

[0077] The map display module 21 is used to obtain the GIS map of the target area through GIS software and convert the GIS map into a three-dimensional map for display; the three-dimensional map is displayed on the electronic sand table in real time, providing rich geographical information and visual effects to help the commanders better understand and analyze the battlefield situation.

[0078] The conversion of the GIS map into a three-dimensional map for display in the map display module 21 is as follows:

[0079] Obtain the two-dimensional data in the GIS map and the elevation data of the target area, where the elevation data is:

[0080] ;

[0081] Among them, is the final elevation value; is the weight of the th layer; is the elevation value of the th layer; is the enhancement factor; is the number of layers; ; when the status type of the target area is urban, then ; when the status type of the target area is forest, then ; when the status type of the target area is mountainous, then ; when the status type of the target area is water area, then ;

[0082] Convert the two-dimensional coordinate data and elevation data into three-dimensional coordinates, use modeling software to generate a three-dimensional model and render it.

[0083] The position determination module 22 is used to identify the positions of the enemies through the images collected by the monitoring module, display the positions of the enemies and the positions of the combatants transmitted by the combat unit 1 on the map display module 21, and at the same time, monitor the distance between the positions of the enemies and the combatants.

[0084] The position determination module 22 identifies the position of the enemy through the images collected by the monitoring module as follows:

[0085] S1. Perform object detection on the images captured by each camera to identify the target enemy in the images;

[0086] S2. Convert the two-dimensional images of the enemy detected by each camera into normalized coordinates, convert the normalized coordinates into ray direction vectors, and establish the ray equations of each camera. Camera calibration error compensation is introduced for optimization during the process of establishing the ray equations of each camera;

[0087] S3. Use the weighted least squares method and the loss function to minimize the distance between all rays, thereby estimating the three-dimensional coordinates of the enemy;

[0088] S2 is specifically as follows:

[0089] Convert the two-dimensional images of the enemy detected by each camera into normalized coordinates:

[0090] ;

[0091] ;

[0092] Among them, , is the normalized coordinate of the enemy detected by the th camera; is the inverse matrix of the internal parameter matrix of the th camera; is the two-dimensional image coordinate of the enemy detected by the th camera; is the internal parameter matrix of the th camera; is the focal length in the horizontal direction of the camera; is the focal length in the vertical direction of the camera; is the abscissa of the image center; is the ordinate of the image center;

[0093] Convert the normalized coordinates into ray direction vectors:

[0094] ;

[0095] Among them, is the ray direction vector of the enemy detected by the th camera; is the transpose of the rotation matrix of the th camera, representing the pose of the camera. The rotation matrix is a 3×3 orthogonal matrix;

[0096] Establish the ray equation for each camera:

[0097] ;

[0098] where, is the ray equation of the enemy detected by the -th camera, expressed as a three-dimensional vector ; is the world coordinate position of the -th camera, expressed as a three-dimensional vector ; is the parameter on the ray, representing the distance from the camera position to the enemy position;

[0099] During the process of establishing the ray equation for each camera, introducing camera calibration error compensation for optimization can reduce the positioning deviation caused by the internal parameter calibration error of the camera. After optimization, it is specifically as follows:

[0100] ;

[0101] ;

[0102] ;

[0103] where, is the internal parameter matrix of the -th camera after optimization; is the calibration error compensation term of the camera internal parameters; is the rotation matrix of the -th camera after optimization; is the -th camera rotation matrix; is the calibration error compensation term of the rotation matrix; is the world coordinate position of the -th camera after optimization; is the -th camera world coordinate position; is the calibration error compensation term of the position;

[0104] The internal parameter matrix contains parameters such as the focal length and principal point coordinates of the camera. If these parameters are inaccurate, it will lead to conversion errors from image coordinates to normalized coordinates. By introducing the internal parameter calibration error compensation term , the internal parameter error can be corrected and the accuracy of target positioning can be improved;

[0105] The rotation matrix Describes the pose of the camera. If the pose is inaccurate, it will lead to conversion errors from normalized coordinates to ray direction vectors. By introducing a rotation matrix calibration error compensation term , the pose error can be corrected and the accuracy of pose estimation can be improved;

[0106] The world coordinate position of the camera If it is inaccurate, it will lead to the starting position error of the ray equation. By introducing a position calibration error compensation term , the position error can be corrected and the accuracy of position estimation can be improved.

[0107] Convert the two-dimensional image of the enemy detected by each camera into normalized coordinates:

[0108] ;

[0109] Convert the normalized coordinates into ray direction vectors:

[0110] ;

[0111] Establish the ray equation for each camera:

[0112] ;

[0113] Among them, is the inverse matrix of the internal parameter matrix of the th optimized camera; is the transpose of the rotation matrix of the th optimized camera.

[0114] S3 is specifically as follows:

[0115] Multi-scale feature fusion:

[0116] ;

[0117] Among them, is the fused feature map; is the number of feature maps; is the number of the th feature map; is the th feature map; is the height of the target feature map; is the width of the target feature map; is the upsampling operation used to adjust the feature maps to the same size;

[0118] By fusing multi-scale features, different-sized targets can be better processed, improving the accuracy of target detection. Feature maps of different scales can capture detailed information at different levels. Through weighted fusion, the feature representation can be enhanced, improving the detection performance of the model and ensuring more accurate two-dimensional image coordinates of the enemies detected by each camera.

[0119] Define the error function:

[0120] ;

[0121] Where, is the error function; is the number of cameras; is the weight of the th camera, which can be determined according to the detection accuracy of the camera or other factors; is the three-dimensional coordinate position of the enemy, represented as a three-dimensional vector;

[0122] By introducing the weight , the detection accuracy of different cameras is considered, thereby improving the accuracy of positioning. Cameras with high accuracy will be assigned higher weights, thus accounting for a larger proportion in the error function.

[0123] Define the Huber loss function to optimize the error function:

[0124] ;

[0125] Where, is the Huber loss function, used to reduce the influence of outliers; is the error; is the threshold, used to distinguish the linear part and the quadratic part;

[0126] The Huber loss function combines the advantages of the squared loss and the absolute loss. It uses the squared loss for small errors and the linear loss for large errors, thereby reducing the influence of outliers on the error function and improving the robustness of the model;

[0127] ;

[0128] Where, is the optimized error function, combining the weighted least squares method and the Huber loss function; is the error between the ray of the enemy detected by the th camera and the estimated enemy position ;

[0129] The optimized error function Combining the advantages of the weighted least squares method and the Huber loss function, it takes into account the detection accuracy of different cameras and improves the robustness of the model, thus providing more accurate positioning results in complex environments;

[0130] The target tracking module 23 is used to analyze the movement trajectory of the enemy based on the received enemy position information and display the generated movement trajectory on the 3D map in real time;

[0131] The analysis and alarm module 24 is used to receive the physical condition of the combatants transmitted by the combat unit 1 and give an alarm in case of abnormal situations; the analysis and alarm module 24 also receives the distance between the enemy position transmitted by the position determination module 22 and the combatants, and gives an alarm when the distance is less than the preset safety distance, and blinks the position point of the abnormal combatant in the 3D map;

[0132] In the analysis and alarm module 24, when giving an alarm when the distance is less than the preset safety distance, blink the position point of the abnormal combatant in the 3D map; when giving an alarm when the physical condition of the combatant is abnormal, not only blink the position point of the abnormal combatant in the 3D map, but also emit an alarm sound.

[0133] All in all, the map display module 21 provides a basic map display platform for other modules to ensure that all information can be displayed and analyzed on the same 3D map; the position determination module 22 determines the positions of the enemy and the combatants through image acquisition and target detection, and transmits this position information to the map display module 21 and the target tracking module 23, and collaborates with the analysis and alarm module 24 to monitor the distance between the enemy and the combatants and provide distance data for safety distance alarms; the target tracking module 23 receives the enemy position information transmitted by the position determination module 22, analyzes the movement trajectory of the enemy, and displays the trajectory information in real time in the map display module 21, and collaborates with the position determination module 22 and the analysis and alarm module 24 to provide dynamic information of the enemy to help the commanders make decisions; the analysis and alarm module 24 receives the physical condition data of the combatants transmitted by the combat unit 1, monitors abnormal situations and gives alarms, and also receives the distance data between the enemy position transmitted by the position determination module 22 and the combatants, monitors the safety distance and gives alarms, and displays the alarm information in the 3D map to help the commanders quickly identify and handle abnormal situations;

[0134] Through the coordinated work of these four modules, the sand table unit 2 can efficiently process and display battlefield information, provide real-time and accurate situation awareness and decision support. Each module has its unique function and role, jointly constituting a powerful command and control system, which improves the ability of battlefield management and command.

[0135] According to the movement trajectory of the enemy, the command unit 3 inputs task instructions in the three-dimensional map of the sand table unit 2 and selects the combatants to execute the tasks, and transmits them to the combat unit 1. Among them, the task instructions include the target location, execution route, execution time, and alarm signal;

[0136] Based on the rich information provided by the sand table unit 2, the commander can plan the combat plan more scientifically and reasonably, can quickly respond to the changes on the battlefield, timely adjust the tactical strategy, and ensure that the combatants can complete the tasks accurately by specifying the specific target location, execution route, execution time, alarm signal, etc.

[0137] From the combat unit 1 to the sand table unit 2 and then to the command unit 3, a closed-loop information flow is formed, ensuring the timeliness and accuracy of information. The sand table unit 2 provides decision support for the command unit 3, and the decision of the command unit 3 will in turn affect the behavior of the combat unit 1, forming a continuously optimized decision support cycle. Through the collaborative operation of these three units, the entire command system can achieve efficient battlefield management and command, improving the combat efficiency and success rate.

[0138] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only the preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A digital twin electronic sandbox command system, characterized in that: include: A combat unit (1), the combat unit (1) being used to obtain the combatant's physical state, real-time position and real-time image of the enemy, and transmit the combatant's physical state, real-time position and real-time image of the enemy to the sandbox unit (2); A sandbox unit (2), the sandbox unit (2) being used to obtain a GIS map of the target area and convert the GIS map into a three-dimensional map, while displaying the received real-time positions of combatants and real-time images of enemies in the three-dimensional map and updating them in real time, thereby generating a movement trajectory of the enemy; The sandbox unit (2) comprises a map display module (21), a position determination module (22), a target tracking module (23) and an analysis and alarm module (24); The map display module (21) is used to obtain a GIS map of the target area through GIS software, and convert the GIS map into a three-dimensional map for display; The position determination module (22) is used to identify the position of the enemy through the image collected by the monitoring module, and display the position of the enemy and the position of the combatant transmitted by the combat unit (1) on the map display module (21), and at the same time, monitor the distance between the enemy position and the combatant; The position determination module (22) identifies the enemy's position through the image collected by the monitoring module, as follows: S1, perform target detection on the images taken by each camera and identify the target enemy in the image; S2, converting the two-dimensional image of the enemy detected by each camera into normalized coordinates, converting the normalized coordinates into ray direction vectors, and establishing the ray equation of each camera. In the process of establishing the ray equation of each camera, camera calibration error compensation is introduced for optimization; S3, using weighted least squares and loss function to minimize the distance between all rays to estimate the enemy's three-dimensional coordinates; The target tracking module (23) is used to analyze the enemy's movement trajectory based on the received enemy position information, and display the generated movement trajectory on the three-dimensional map in real time; The analysis and alarm module (24) is used to receive the physical condition of the combatants transmitted by the combat unit (1) and to generate an alarm when an abnormal condition occurs; Specifically, the analysis alarm module (24) receives the distance between the enemy position and the combatant transmitted by the position determination module (22), and when the distance is less than a preset safety distance, an alarm is issued, and the position point of the abnormal combatant flashes in the three-dimensional map; when an alarm is issued when the combatant's physical condition is abnormal, not only the position point of the abnormal combatant flashes in the three-dimensional map, but also an alarm sound is emitted; A command unit (3) inputs a mission instruction into a three-dimensional map of a sandbox unit (2) according to the enemy's movement trajectory, selects combatants to perform the mission, and transmits the mission instruction to a combat unit (1), wherein the mission instruction includes a target location, an execution route, an execution time, and an alarm signal.

2. The digital twin electronic sandbox command system according to claim 1 is characterized in that: The combat unit (1) comprises a plurality of positioning modules, on which are provided monitoring modules and terminals. The positioning modules are used to obtain the real-time position of combatants, the monitoring modules collect real-time images of the enemy through cameras, and the terminals are used to monitor the physical condition of combatants and are capable of receiving task instructions from the command unit (3).

3. The digital twin electronic sandbox command system according to claim 2 is characterized in that: The map display module (21) converts the GIS map into a three-dimensional map for display, as follows: Get the two-dimensional data in the GIS map and the elevation data of the target area, where the elevation data is: ； in, is the final elevation value; For the The weight of the layer; For the The elevation value of the layer; is the enhancement factor; is the number of layers; ; Convert 2D coordinate data and elevation data into 3D coordinates, use modeling software to generate 3D models and render them.

4. The digital twin electronic sandbox command system according to claim 3 is characterized in that: The value of the enhancement factor is specifically: when the status type of the target area is a city, then ; When the target area's status type is forest, ; When the target area is mountainous, ; When the target area is a water area, .

5. The digital twin electronic sandbox command system according to claim 4 is characterized in that: The S2 is specifically as follows: Convert the two-dimensional image of the enemy detected by each camera into normalized coordinates: ； ； in, , For the The normalized coordinates of the enemies detected by each camera; For the The inverse matrix of the intrinsic parameter matrix of each camera; For the The 2D image coordinates of the enemy detected by each camera; For the The intrinsic parameter matrix of the camera; is the horizontal focal length of the camera; is the vertical focal length of the camera; is the horizontal coordinate of the center of the image; is the ordinate of the center of the image; Convert the normalized coordinates to a ray direction vector: ； in, For the The ray direction vector of the enemy detected by each camera; For the The transpose of the camera rotation matrix; Create the ray equation for each camera: ； in, For the The ray equation for each enemy detected by the camera; For the The world coordinate position of each camera; are the parameters on the ray.

6. The digital twin electronic sandbox command system according to claim 5 is characterized in that: In S2, camera calibration error compensation is introduced to optimize the process of establishing the ray equation of each camera. The optimization is as follows: ； ； ； in, After optimization The intrinsic parameter matrix of each camera; is the calibration error compensation item of the camera intrinsic parameter; After optimization A camera rotation matrix; For the A camera rotation matrix; is the calibration error compensation term of the rotation matrix; After optimization The world coordinate position of each camera; For the The world coordinate position of each camera; is the calibration error compensation term of the position; Convert the two-dimensional image of the enemy detected by each camera into normalized coordinates: ； Convert the normalized coordinates to a ray direction vector: ； Create the ray equation for each camera: ； in, After optimization The inverse matrix of the intrinsic parameter matrix of each camera; After optimization The transpose of the camera rotation matrix.

7. The digital twin electronic sandbox command system according to claim 6 is characterized in that: The S3 is as follows: Multi-scale feature fusion: ； in, is the fused feature map; is the number of feature maps; For the The number of feature maps; For the feature maps; is the height of the target feature map; is the width of the target feature map; is the upsampling operation; Define the error function: ； in, is the error function; is the number of cameras; For the The weight of each camera; is the three-dimensional coordinate position of the enemy.

8. The digital twin electronic sandbox command system according to claim 7 is characterized in that: The Huber loss function is defined in the error function for optimization, and the optimization is as follows: ； in, is the Huber loss function; is the error; is the threshold value; ； in, is the optimized error function; For the Rays of enemies detected by cameras and estimated enemy positions The error between .

Images