Target shooting simulation system, method, device, equipment and storage medium

Abstract

The present invention relates to the technical field of flight simulation of aircraft, and discloses a target shooting simulation system, method, device, equipment and storage medium. The target shooting simulation system includes: an inertial navigation system error random generation model, an overall parameter error random generation model and a ballistic model; the inertial navigation system error random generation model randomly generates a first inertial device error value and a first initial alignment error; the overall parameter error random generation model randomly generates a first overall parameter error value; the ballistic model is used to obtain angular velocity and / or acceleration. The present invention can obtain a target shooting simulation result of the aircraft that is closer to the actual situation, which helps to shorten the development cycle of the aircraft and reduce the development cost of the aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of target shooting simulation for aircraft, and particularly to a target shooting simulation system, method, device, equipment and storage medium. Background Art

[0002] The overall design of aircraft (including missiles, unmanned aerial vehicles, etc.) cannot rely entirely on actual flight tests. Therefore, during the development process of aircraft, target shooting simulation technology is an indispensable means. The basic method of target shooting simulation is to conduct Monte Carlo simulation tests based on a credible mathematical model.

[0003] The Monte Carlo method, also known as the random sampling method, is a method that reproduces a physical process by calculating with a probabilistic mathematical model and the statistical characteristics of the physical process of the actual problem being studied. By modeling the random interference factors during the flight process of the aircraft and combining them with the aircraft flight dynamics equation, the target shooting accuracy of the aircraft can be obtained, providing a method and basis for the design and performance verification of the aircraft.

[0004] However, the accuracy of the target shooting simulation model of the current Monte Carlo target shooting simulation method is relatively low, and it is unable to evaluate the accuracy of the inertial navigation system, and is not close enough to the actual situation. Summary of the Invention

[0005] In view of this, the present invention provides a target shooting simulation system, method, device, equipment and storage medium to solve the problems that the accuracy of the target shooting simulation model of the current Monte Carlo target shooting simulation method is low and it is unable to evaluate the accuracy of the inertial navigation system.

[0006] In a first aspect, the present invention provides a target shooting simulation system, which includes:

[0007] An inertial navigation system error random generation model, an overall parameter error random generation model, and a ballistic model;

[0008] The inertial navigation system error random generation model is used to randomly generate a first inertial device error value based on various pre-set inertial device error related values; randomly generate a first initial alignment error based on pre-set initial alignment error related values; add the first inertial device error value to the angular velocity and / or acceleration output by the ballistic model to obtain the first angular velocity and / or first acceleration of the aircraft; add the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft;

[0009] The first angular velocity and / or the first acceleration, and the first initial alignment attitude are used for inertial navigation solution, and the navigation result obtained is used for guidance and attitude control calculation to obtain the rudder deflection;

[0010] The overall parameter error random generation model is used to randomly generate a first overall parameter error value based on a preset overall parameter error correlation value; the first overall parameter error value is used to be added to the overall parameter to obtain a first overall parameter;

[0011] The ballistic model is used to obtain angular velocity and / or acceleration based on the first overall parameter and the rudder deflection.

[0012] In some optional specific embodiments, the various inertial device error correlation values include gyro three-axis zero bias values, gyro three-axis zero bias stability values, gyro three-axis cross-coupling values, and / or gyro three-axis scale factor non-linearity values;

[0013] The first inertial device error value includes first Gaussian white noise, the gyro three-axis cross-coupling value, and / or the gyro three-axis scale factor non-linearity value;

[0014] The first Gaussian white noise has the gyro three-axis zero bias value as the expectation and the gyro three-axis zero bias stability value as the variance.

[0015] In some optional specific embodiments, the various inertial device error correlation values include accelerometer three-axis zero bias values, accelerometer three-axis zero bias stability values, accelerometer three-axis cross-coupling values, and accelerometer three-axis scale factor non-linearity values;

[0016] The first inertial device error value includes second Gaussian white noise, the accelerometer three-axis cross-coupling value, and / or the accelerometer three-axis scale factor non-linearity value; the second Gaussian white noise has the accelerometer three-axis zero bias value as the expectation and the accelerometer three-axis zero bias stability value as the variance.

[0017] In some optional specific embodiments, the overall parameter error correlation value includes at least one of the following: target binding deviation, initial perturbation, mass deviation, inertia deviation, centroid deviation, dynamic performance deviation, wind speed deviation, and aerodynamic parameter deviation;

[0018] The first overall parameter includes at least one of the following:

[0019] The first target binding parameter with the target binding deviation added;

[0020] The aircraft mass with the mass deviation added;

[0021] The first wind speed with the wind speed deviation added;

[0022] The first moment of inertia with the inertia deviation added;

[0023] The first rolling moment coefficient, the first yaw moment coefficient, and the first pitch moment coefficient with the centroid deviation added;

[0024] The first three-channel moment deviation after adding the dynamic performance deviation;

[0025] The second rolling moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient after adding the aerodynamic parameter deviation;

[0026] The first drag coefficient, the first lift coefficient, and the first side force coefficient after adding the aerodynamic parameter deviation.

[0027] In some optional specific embodiments, the first moment of inertia is determined according to the nominal value of the moment of inertia and the inertia deviation; and / or,

[0028] The first rolling moment coefficient, the first yaw moment coefficient, and the first pitch moment coefficient are determined according to the center of mass deviation, the center of mass movement generated by engine combustion, the axial force coefficient, the normal force coefficient, the side force coefficient, and the reference length; and / or,

[0029] The first three-channel moment deviation is determined according to the engine thrust deviation, the nominal value of the engine thrust, the engine thrust skew angle, the engine thrust transverse shift, and the center of mass deviation; and / or,

[0030] The second rolling moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient are determined according to the nominal value of the rolling moment coefficient, the nominal value of the yaw moment coefficient, the nominal value of the pitch moment coefficient, the constant deviation of the rolling moment coefficient, the constant deviation of the yaw moment coefficient, the constant deviation of the pitch moment coefficient, the derivative of the rolling moment coefficient with respect to the sideslip angle, the derivative of the yaw moment coefficient with respect to the sideslip angle, the derivative of the pitch moment coefficient with respect to the angle of attack, the derivative of the rolling moment coefficient with respect to the roll rudder deflection, the deviation of the derivative of the rolling moment coefficient with respect to the roll rudder deflection, the derivative of the yaw moment coefficient with respect to the yaw rudder deflection, the deviation of the derivative of the yaw moment coefficient with respect to the yaw rudder deflection, the derivative of the pitch moment coefficient with respect to the pitch rudder deflection, and the deviation of the derivative of the pitch moment coefficient with respect to the pitch rudder deflection; and / or,

[0031] The first drag coefficient, the first lift coefficient, and the first side force coefficient are determined according to the nominal value of the drag coefficient, the nominal value of the lift coefficient, the nominal value of the side force coefficient, and the corresponding deviations.

[0032] In some optional specific embodiments, the first inertial device error value generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or,

[0033] The first initial alignment error generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or,

[0034] The first overall parameter error value generated by the overall parameter error random generation model satisfies a normal distribution.

[0035] In a second aspect, the invention provides a shooting simulation method, the method comprising:

[0036] Using an inertial navigation system error random generation model, based on various pre-set inertial device error related values, randomly generating a first inertial device error value; based on a pre-set initial alignment error related value, randomly generating a first initial alignment error;

[0037] Adding the first inertial device error value to the angular velocity and / or acceleration output by the ballistic model to obtain a first angular velocity and / or a first acceleration of the aircraft;

[0038] Adding the first initial alignment error to the initial alignment attitude to obtain a first initial alignment attitude of the aircraft;

[0039] Performing inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment attitude to obtain a navigation result;

[0040] Performing guidance and attitude control calculations based on the navigation result to obtain a rudder deflection;

[0041] Using an overall parameter error random generation model, based on pre-set overall parameter error related values, randomly generating a first overall parameter error value;

[0042] Adding the first overall parameter error value to the overall parameters to obtain first overall parameters;

[0043] Using the ballistic model, based on the first overall parameters and the rudder deflection, to obtain an angular velocity and / or an acceleration.

[0044] In a third aspect, the invention provides a shooting simulation device, the device comprising:

[0045] A first error generation module, configured to use an inertial navigation system error random generation model to randomly generate a first inertial device error value based on various pre-set inertial device error related values; and randomly generate a first initial alignment error based on a pre-set initial alignment error related value;

[0046] A first calculation module, configured to add the first inertial device error value to the angular velocity and / or acceleration output by the ballistic model to obtain a first angular velocity and / or a first acceleration of the aircraft;

[0047] A second calculation module, configured to add the first initial alignment error to the initial alignment attitude to obtain a first initial alignment attitude of the aircraft;

[0048] A navigation solution module, configured to perform inertial navigation solution by using the first angular velocity and / or the first acceleration, and the first initial alignment attitude, so as to obtain a navigation result;

[0049] A guidance and attitude control solution module, configured to perform guidance and attitude control calculations based on the navigation result to obtain a rudder deflection;

[0050] A second error generation module, configured to randomly generate a first overall parameter error value based on a pre-set overall parameter error correlation value by using an overall parameter error random generation model;

[0051] A third calculation module, configured to add the first overall parameter error value to the overall parameters to obtain first overall parameters;

[0052] A trajectory solution module, configured to obtain an angular velocity and / or an acceleration by using the trajectory model based on the first overall parameters and the rudder deflection.

[0053] In a fourth aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other, wherein the memory stores computer instructions, and the processor executes the computer instructions to execute the shooting simulation method according to the second aspect or any corresponding embodiment thereof.

[0054] In a fifth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the shooting simulation method according to the second aspect or any corresponding embodiment thereof.

[0055] In a sixth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute the shooting simulation method according to the second aspect or any corresponding embodiment thereof.

[0056] The shooting simulation system, method, device, equipment and storage medium provided by the embodiments of the present invention can obtain more realistic shooting simulation results by establishing an accurate inertial navigation system error random generation model and a comprehensive overall parameter error random generation model, combining a navigation guidance and control model (for navigation solution) and a trajectory model, which helps to determine the overall aircraft scheme, design control system parameters, improve the control system performance, shorten the aircraft development cycle, and reduce the aircraft development cost. Description of the Drawings

[0057] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the accompanying drawings required for use in the description of the specific embodiments or the related art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0058] Figure 1 It is a schematic diagram of a target shooting simulation architecture according to an embodiment of the present invention;

[0059] Figure 2 It is a schematic flowchart of a target shooting simulation method according to an embodiment of the present invention;

[0060] Figure 3 It is a schematic diagram of a user operation process according to an embodiment of the present invention;

[0061] Figure 4 It is a schematic diagram of the login interface of a target shooting simulation software according to an embodiment of the present invention;

[0062] Figure 5 It is a schematic diagram of the main interface of a target shooting simulation software according to an embodiment of the present invention;

[0063] Figure 6 It is a schematic diagram of the interface for setting the random deviation of overall parameters of a target shooting simulation software according to an embodiment of the present invention;

[0064] Figure 7 It is a schematic diagram of the interface for setting the errors of an inertial navigation system in a target shooting simulation software according to an embodiment of the present invention;

[0065] Figure 8 It is one of the schematic diagrams of the interface for analyzing the simulation results of a target shooting simulation software according to an embodiment of the present invention;

[0066] Figure 9 It is another schematic diagram of the interface for analyzing the simulation results of a target shooting simulation software according to an embodiment of the present invention;

[0067] Figure 10 It is a schematic diagram of the interface for drawing the attitude and position error images of a target shooting simulation software according to an embodiment of the present invention;

[0068] Figure 11 It is a block diagram of the structure of a target shooting simulation device according to an embodiment of the present invention;

[0069] Figure 12 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Specific Embodiments

[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0071] In the Monte Carlo shooting simulation method in the related art, the errors of the inertial navigation system are not considered, and the consideration of the random error terms of the overall parameters is not comprehensive enough, and the influence of these error terms on the shooting accuracy of the aircraft is relatively large.

[0072] An embodiment of the present invention provides a shooting simulation system, as Figure 1 shown. The system includes: a random generation model for inertial navigation system errors, a random generation model for overall parameter errors, and a ballistic model (which can also be called a projectile model).

[0073] The random generation model for inertial navigation system errors is used to randomly generate a first inertial device error value based on various pre-set inertial device error-related values; randomly generate a first initial alignment error based on pre-set initial alignment error-related values; add the first inertial device error value to the angular velocity and / or acceleration output by the ballistic model to obtain the first angular velocity and / or the first acceleration of the aircraft; and add the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft. The various pre-set inertial device error-related values and the pre-set initial alignment error-related values can be pre-set by the user. The various inertial device error-related values can be the error values themselves, error percentages, or the conditions that the error values need to meet. The conditions that the error values need to meet, for example, if the number of shooting tests in the simulation experiment is 1000, then the expected value and the required variance when using the random generation model for inertial navigation system errors to generate 1000 groups of first inertial device error values are the conditions that the error values need to meet. The same is true for the pre-set initial alignment error-related values, which will not be elaborated here. The above-mentioned inertial devices mainly include gyroscopes (hereinafter referred to as gyros) and accelerometers (hereinafter referred to as accelerometers). The gyroscope is used to detect the direction change of the aircraft and output the angular velocity; the accelerometer is used to detect the acceleration of the aircraft. The first inertial device error value generated by the random generation model for inertial navigation system errors generally satisfies the normal distribution.

[0074] The first angular velocity and / or the first acceleration, and the first initial alignment attitude are used for inertial navigation solution, and the obtained navigation result is used for guidance and attitude control calculation to obtain the rudder deflection. The navigation result here includes information such as the speed, position, and attitude of the aircraft. The inertial navigation solution here can be implemented using a navigation guidance and control model, that is, inputting the first angular velocity and / or the first acceleration, and the first initial alignment attitude into the navigation guidance and control model for navigation solution.

[0075] The overall parameter error random generation model is used to randomly generate a first overall parameter error value based on a preset overall parameter error correlation value; the first overall parameter error value is used to be added to the overall parameters to obtain the first overall parameters. The first overall parameter error value randomly generated by the overall parameter error random generation model satisfies a normal distribution.

[0076] The trajectory model is used to obtain the angular velocity and / or acceleration based on the first overall parameters and the rudder deflection.

[0077] Adding the error value to the relevant parameters as described above is not limited to addition operations, and may also include other operations. For example, if the error is a percentage, then multiplication operations may be included.

[0078] Among them, the initial alignment error includes at least one of the initial longitude error, initial latitude error, initial altitude error, initial east velocity error, initial north velocity error, initial sky velocity error, initial roll angle error, initial yaw angle error, and initial pitch angle error.

[0079] The target shooting simulation system provided by the embodiments of the present invention can obtain more realistic target shooting simulation results by establishing an accurate inertial navigation system error random generation model and a comprehensive overall parameter error random generation model, combining a navigation guidance and control model (for navigation solution) and a trajectory model, which helps to determine the overall aircraft scheme, design control system parameters, improve the performance of the control system, shorten the aircraft development cycle, and reduce the aircraft development cost.

[0080] In some optional specific embodiments, the various inertial device error correlation values include the gyro three-axis zero bias value, the gyro three-axis zero bias stability value, the gyro three-axis cross-coupling value, and / or the gyro three-axis scale factor non-linearity value;

[0081] The first inertial device error value includes the first Gaussian white noise, the gyro three-axis cross-coupling value, and / or the gyro three-axis scale factor non-linearity value;

[0082] The first Gaussian white noise has the gyro three-axis zero bias value as the expectation and the gyro three-axis zero bias stability value as the variance.

[0083] Correspondingly, the calculation formula for the first angular velocity of the aircraft obtained by adding the first inertial device error value to the angular velocity output by the trajectory model can be:

[0084]

[0085] where, is the first angular velocity of the aircraft;

[0086] ω x 、ω y 、ω z are the angular velocities output by the trajectory model;

[0087] is the nonlinear value of the accelerometer triaxial scale factor;

[0088] is the accelerometer triaxial cross-coupling value;

[0089] is the first Gaussian white noise, and the first Gaussian white noise is a Gaussian white noise with the accelerometer triaxial zero bias value as the expectation and the accelerometer triaxial zero bias stability value as the variance.

[0090] In some optional specific implementation manners, the inertial device error-related values include the accelerometer triaxial zero bias value, the accelerometer triaxial zero bias stability value, the accelerometer triaxial cross-coupling value, and the accelerometer triaxial scale factor nonlinear value;

[0091] The first inertial device error value includes the second Gaussian white noise, the accelerometer triaxial cross-coupling value, and / or the accelerometer triaxial scale factor nonlinear value; the second Gaussian white noise has the accelerometer triaxial zero bias value as the expectation and the accelerometer triaxial zero bias stability value as the variance.

[0092] Correspondingly, the calculation formula for the first acceleration of the aircraft obtained by adding the first inertial device error value to the acceleration output by the trajectory model can be:

[0093]

[0094] where, is the first acceleration of the aircraft;

[0095] a x 、a y 、a z are the accelerations output by the trajectory model;

[0096] is the accelerometer triaxial scale factor nonlinear value;

[0097] is the accelerometer triaxial cross-coupling value;

[0098] The second Gaussian white noise with the zero bias of the three-axis accelerometer as the expectation and the stability value of the zero bias of the three-axis accelerometer as the variance.

[0099] The inertial device error and the initial alignment error can be collectively referred to as: the inertial navigation system error. According to the above, it can be known that the inertial navigation system error can have multiple items as shown in Table 1.

[0100] Table 1 Inertial Navigation System Error Terms

[0101]

[0102] In some optional specific embodiments, the overall parameter error correlation value includes at least one of the following: target binding deviation, initial perturbation, mass deviation, inertia deviation, centroid deviation, dynamic performance deviation, wind speed deviation, and aerodynamic parameter deviation; the initial perturbation is the angular velocity perturbation generated by the collision with the launch rail at the moment when the aircraft leaves the rack. In the absence of initial perturbation, the initial pitch angular velocity is not 0, and the initial roll angular velocity and yaw angular velocity are 0.

[0103] The first overall parameter includes at least one of the following:

[0104] The first target binding parameter with the target binding deviation added;

[0105] The aircraft mass with the mass deviation added;

[0106] The first wind speed with the wind speed deviation added;

[0107] The first moment of inertia with the inertia deviation added;

[0108] The first roll moment coefficient, the first yaw moment coefficient, and the first pitch moment coefficient with the centroid deviation added;

[0109] The first three-channel moment deviation with the dynamic performance deviation added;

[0110] The second roll moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient with the aerodynamic parameter deviation added;

[0111] The first drag coefficient, the first lift coefficient, and the first side force coefficient with the aerodynamic parameter deviation added.

[0112] Specifically, the first moment of inertia is determined according to the nominal value of the moment of inertia and the inertia deviation. Its calculation formula can be:

[0113] J x = J xstd (1 + ΔJ x )

[0114] J y = J ystd (1 + ΔJ y )

[0115] J z = J zstd (1 + ΔJ z )

[0116] wherein, J x , J y , J z are the first moment of inertia, J xstd , J ystd and J zstd are the nominal values of the moment of inertia, and ΔJ x , ΔJ y , ΔJ z are the inertia deviations (in percentage).

[0117] The first rolling moment coefficient, the first yaw moment coefficient, and the first pitch moment coefficient are determined according to the centroid deviation, the centroid movement generated by engine combustion, the axial force coefficient, the normal force coefficient, the lateral force coefficient, and the reference length. Their calculation formulas can be:

[0118]

[0119]

[0120] wherein, C mx , C my , C mz are the first rolling moment coefficient (which can also be called the first roll moment coefficient), the first yaw moment coefficient, and the first pitch moment coefficient; C mxstd , C mystd , C mzstd are the nominal values of the rolling moment coefficient, the yaw moment coefficient, and the pitch moment coefficient; ΔX t , ΔY t , ΔZ t are the centroid deviations (longitudinal centroid deviation, lateral centroid deviation, lateral centroid deviation), ΔX m is the centroid movement generated by engine combustion, C X , C Y , C Z are respectively the axial force coefficient, the normal force coefficient, and the lateral force coefficient in the aircraft coordinate system, and L ref is the reference length.

[0121] The first three-channel moment deviation is determined according to the engine thrust deviation, the nominal value of the engine thrust, the engine thrust skew angle, the engine thrust lateral shift, and the centroid deviation. Its calculation formula is:

[0122] Mxe = -F y ×(R Z -ΔZ t ) + F z ×(R Y -ΔY t )

[0123] Mye = F x ×(R Z -ΔZ t ) - F z ×(R X -ΔX t )

[0124] Mze = -F x ×(R Y -ΔY t ) + F y ×(R X -ΔX t )

[0125] Among them, Mxe, Mye, and Mze are the moment deviations of the first three channels, R X , R Y , R Z are the engine thrust cross-shifts (i.e., thrust eccentricities) of the three axes, ΔX t , ΔY t , ΔZ t are the center-of-mass deviations (longitudinal center-of-mass deviation, lateral center-of-mass deviation, lateral center-of-mass deviation);

[0126] F x = F × cos(δ1) × cos(δ2)

[0127] F y = F × sin(δ1)

[0128] F z = F × cos(δ1) × sin(δ2)

[0129] Among them, δ1 and δ2 are the engine thrust deflection angles (i.e., the angles between the engine thrust line and the Y-axis and Z-axis) respectively; F = F std ×(1 + F e ), F std is the nominal engine thrust value, F e is the thrust deviation.

[0130] The second rolling moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient are determined based on the nominal values of the rolling moment coefficient, the yaw moment coefficient, the pitch moment coefficient, the constant deviation of the rolling moment coefficient, the constant deviation of the yaw moment coefficient, the constant deviation of the pitch moment coefficient, the derivative of the rolling moment coefficient with respect to the sideslip angle, the derivative of the yaw moment coefficient with respect to the sideslip angle, the derivative of the pitch moment coefficient with respect to the angle of attack, the derivative of the rolling moment coefficient with respect to the roll rudder deflection, the deviation of the derivative of the rolling moment coefficient with respect to the roll rudder deflection, the derivative of the yaw moment coefficient with respect to the yaw rudder deflection, the deviation of the derivative of the yaw moment coefficient with respect to the yaw rudder deflection, the derivative of the pitch moment coefficient with respect to the pitch rudder deflection, and the deviation of the derivative of the pitch moment coefficient with respect to the pitch rudder deflection. The calculation formulas for the second rolling moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient can be as follows:

[0131]

[0132] where C mx , C my , C mz are the second rolling moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient respectively; C mxstd , C mystd , C mzstd are the nominal values of the rolling moment coefficient, the yaw moment coefficient, and the pitch moment coefficient respectively; is the constant deviation of the rolling moment coefficient, the constant deviation of the yaw moment coefficient, and the constant deviation of the pitch moment coefficient; is the derivative of the rolling moment coefficient with respect to the sideslip angle; is the derivative of the yaw moment coefficient with respect to the sideslip angle; is the derivative of the pitch moment coefficient with respect to the angle of attack; is the derivative of the rolling moment coefficient with respect to the roll rudder deflection (i.e., the roll rudder effectiveness coefficient); is the deviation of the derivative of the rolling moment coefficient with respect to the roll rudder deflection (i.e., the roll rudder effectiveness coefficient deviation); is the derivative of the yaw moment coefficient with respect to the yaw rudder deflection (i.e., the yaw rudder effectiveness coefficient), is the deviation of the derivative of the yaw moment coefficient with respect to the yaw rudder deflection (i.e., the yaw rudder effectiveness coefficient deviation); is the derivative of the pitch moment coefficient with respect to the pitch rudder deflection (i.e., the pitch rudder effectiveness coefficient); is the deviation of the derivative of the pitch moment coefficient with respect to the pitch rudder deflection (i.e., the pitch rudder effectiveness coefficient deviation). β, δ x , δ y , δ z are the sideslip angle, the roll rudder deflection, the yaw rudder deflection, and the pitch rudder deflection respectively.

[0133] The first drag coefficient, the first lift coefficient, and the first side force coefficient are determined based on the nominal drag coefficient, the nominal lift coefficient, the nominal side force coefficient, and the corresponding deviations. The specific calculation formula can be:

[0134]

[0135] Among them, C a , C l , C z are the first drag coefficient, the first lift coefficient, and the first side force coefficient in the velocity coordinate system respectively, C astd , C lstd , C zstd are the nominal drag coefficient, the nominal lift coefficient, and the nominal side force coefficient; ΔC a , ΔC l , ΔC z are the drag coefficient deviation (percentage), the lift coefficient deviation (percentage), and the side force coefficient deviation (percentage); is the constant deviation of the drag coefficient, is the constant deviation of the lift coefficient, is the constant deviation of the side force coefficient. The first drag coefficient C a , the first lift coefficient C l , and the first side force coefficient C z in the velocity coordinate system can be converted to the axial force coefficient C X , the normal force coefficient C Y , and the lateral force coefficient C Z in the aircraft coordinate system.

[0136] In addition,

[0137]

[0138] Among them, is the three-channel damping moment coefficient (roll damping coefficient , yaw damping coefficient , pitch damping coefficient ), is the corresponding deviation, is the roll cross-damping coefficient, is the yaw cross-damping coefficient.

[0139] In the embodiments of the present invention, the damping coefficient deviation, the aerodynamic parameter deviation, and the centroid deviation will all affect the three moment coefficients (rolling moment coefficient, yaw moment coefficient, and pitch moment coefficient). Specifically, the damping coefficient deviation can be incorporated into the three moment coefficients first, then the aerodynamic parameter deviation can be incorporated into the three moment coefficients, and finally the centroid deviation can be incorporated into the three moment coefficients. That is to say, the damping coefficient deviation is first added to the nominal values of the three moment coefficients, on this basis, the aerodynamic parameter deviation is added, and finally the centroid deviation is added.

[0140] Compared with the related art where the consideration of the overall parameter random deviation (the deviation can also be called error) term is not comprehensive enough, the embodiments of the present invention consider a total of 28 overall parameter random deviation terms in 6 categories, as shown in Table 2 below, including launch condition deviation (which can also be called target binding deviation), initial perturbation, mass moment of inertia centroid deviation, power system performance deviation, wind field perturbation, and aerodynamic parameter deviation (the deviation here can also be called pulling deviation).

[0141] Table 2 Overall Parameter Random Deviation Terms

[0142]

[0143]

[0144] Among them, the longitudinal centroid deviation ΔX t already includes the influence of the center of pressure deviation.

[0145] In addition, regarding the ballistic model, specifically, it can be a six-degree-of-freedom ballistic model, including the centroid dynamics equation, the centroid kinematics equation, the attitude dynamics equation, the attitude kinematics equation, the mass change equation, and the angle relationship equation.

[0146] Specifically, the centroid dynamics equation can be:

[0147]

[0148]

[0149] Where:

[0150] P is the engine thrust;

[0151] V is the flight speed of the aircraft;

[0152] G is the gravity;

[0153] α, β are the angle of attack and sideslip angle of the aircraft;

[0154] m, g are the real-time mass of the aircraft and the gravitational acceleration of the shell;

[0155] θ, ψ v , γ vare the flight path angle, the drift angle, and the velocity inclination angle of the aircraft.

[0156] X, Y, and Z are the aerodynamic axial force, the normal force, and the lateral force.

[0157] The kinematic equations of the center of mass can be:

[0158]

[0159] Where:

[0160] x, y, and z are the position coordinates of the center of mass of the aircraft.

[0161] The attitude dynamics equations can be:

[0162]

[0163] Where:

[0164] J x , J y , J z are the moments of inertia of the projectile about the longitudinal axis, the normal axis, and the lateral axis;

[0165] ω x , ω y , ω z are the angular velocities of the projectile about the longitudinal axis, the normal axis, and the lateral axis;

[0166] M x , M y , M z are the rolling moment, the yawing moment, and the pitching moment;

[0167] The attitude kinematic equations can be:

[0168]

[0169]

[0170] Where:

[0171] γ, ψ, are the roll angle, the yaw angle, and the pitch angle;

[0172] The mass change equation can be:

[0173]

[0174] Where:

[0175] μ is the mass change rate;

[0176] The angle relationship equation can be:

[0177]

[0178] According to an embodiment of the present invention, an embodiment of a target shooting simulation method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of executable computer instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0179] In this embodiment, a target shooting simulation method is provided, which can be used in a computer device. Figure 2 It is a flowchart of the target shooting simulation method according to an embodiment of the present invention, as Figure 2 shown, and this process includes the following steps:

[0180] Step S201: Use an inertial navigation system error random generation model to randomly generate a first inertial device error value based on various pre-set inertial device error related values; randomly generate a first initial alignment error based on pre-set initial alignment error related values.

[0181] Step S202: Add the first inertial device error value to the angular velocity and / or acceleration output by the ballistic model to obtain the first angular velocity and / or the first acceleration of the aircraft.

[0182] Step S203: Add the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft.

[0183] Step S204: Use the first angular velocity and / or the first acceleration, and the first initial alignment attitude to perform inertial navigation solution to obtain a navigation result.

[0184] Step S205: Based on the navigation result, perform guidance and attitude control calculations to obtain a rudder deflection.

[0185] Step S206: Use an overall parameter error random generation model to randomly generate a first overall parameter error value based on pre-set overall parameter error related values.

[0186] Step S207: Add the first overall parameter error value to the overall parameters to obtain the first overall parameters.

[0187] Step S208: Use the ballistic model to obtain the angular velocity and / or acceleration based on the first overall parameters and the rudder deflection.

[0188] The target shooting simulation method provided by the embodiments of the present invention can obtain more realistic target shooting simulation results by establishing an accurate random error generation model of the inertial navigation system and a comprehensive random error generation model of overall parameters, and combining the navigation guidance and control model (for navigation solution) with the ballistic model. This helps to determine the overall aircraft design, design the control system parameters, improve the control system performance, shorten the aircraft development cycle, and reduce the aircraft development cost.

[0189] For the specific introduction process of the random deviation of overall parameters and the error of the inertial navigation system, please refer to Figure 1 .

[0190] To verify the simulation idea and algorithm, the embodiments of the present invention developed a Monte Carlo ballistic simulation software, which is jointly developed through Matlab / Design and VC++ tools. The ballistic model, that is, the six-degree-of-freedom simulation model, is implemented using VC++ tools, and the parameter binding interface is implemented using Matlab / Design tools. As Figure 3 shown, the user operation process includes: setting the number of target shootings, setting the value of the overall deviation (i.e., the value of the random deviation term of overall parameters), setting the value of the inertial error (the value of the error term of the inertial navigation system), starting the target shooting simulation, generating the first overall parameter error value and participating in the solution of the ballistic model, generating the inertial device error value and the initial alignment error and participating in the navigation, guidance, and attitude control solutions.

[0191] The interface of the above simulation software mainly includes a login interface, a main interface, an overall parameter random deviation setting interface, an inertial navigation system error setting interface, a simulation result analysis interface, and an attitude and position error image drawing interface.

[0192] The login interface is as Figure 4 shown, which is the first display interface of the simulation software. Clicking the button icon below "Run" can jump to the main interface. The main interface is as Figure 5 shown, which is the second display interface of the simulation software. Through this interface, you can enter the overall parameter random deviation setting interface, the inertial navigation system error setting interface, and the simulation result analysis interface. The simulation process information is also displayed on this interface. By clicking the button icon on the right side of "Overall Deviation Setting", the overall parameter random deviation setting interface can be opened; clicking the button icon on the right side of "Inertial Error Setting" can open the inertial navigation system error setting interface; clicking the button icon on the right side of "Start Target Shooting Simulation" can call the EXE program generated by VS2017 to start the simulation, and the simulation status can be displayed in real time in the text box; clicking the button icon on the right side of "Simulation Result Analysis" can open the simulation result analysis interface.

[0193] The overall parameter random deviation setting interface is as Figure 6As shown, the user can input the deviation of moment of inertia, the deviation of dynamic performance, and the deviation of aerodynamic parameters, and click the button icon on the right side of "Binding" to achieve the binding of random deviations of overall parameters.

[0194] The error setting interface of the inertial navigation system, as Figure 7 shown, the user can input the zero bias, zero bias stability, scale factor nonlinearity, cross coupling of inertial devices, and the errors related to initial alignment, and click the button icon on the right side of "Binding" to achieve the binding of error parameters of the inertial navigation system.

[0195] The simulation result analysis interface, as Figure 8 shown, in the "Hit Probability Calculation" panel, the user can input "Flight Reliability", "Seeker Recognition Probability", and the mid-course and terminal guidance handover probability and damage probability calculated above, and click the button icon on the right side of "Probability Calculation" to obtain the hit probability and draw the impact point dispersion diagram. Taking a set of data as an example, after analysis and calculation by this software, as Figure 9 shown.

[0196] The attitude and position error image drawing interface, as Figure 10 shown, entering this interface can automatically draw images of roll angle error, yaw angle error, pitch angle error, longitude error, latitude error, and altitude error.

[0197] In summary, the embodiment of the present invention provides a Monte Carlo shooting simulation method based on random errors of overall parameters and inertial navigation system errors. By establishing an accurate random generation model of inertial navigation system errors and an accurate random generation model of overall parameter errors, more realistic simulation results can be obtained, which helps to determine the overall aircraft scheme, design control system parameters, improve control system performance, shorten the aircraft development cycle, and reduce the aircraft development cost.

[0198] In this embodiment, a shooting simulation device is also provided. This device is used to implement the shooting simulation method embodiments and preferred implementation manners described above, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0199] This embodiment provides a shooting simulation device, as Figure 11 shown, including:

[0200] The first error generation module 1101 is configured to use the random generation model of inertial navigation system errors to randomly generate the first inertial device error value based on the pre-set inertial device error related values; and randomly generate the first initial alignment error based on the pre-set initial alignment error related values.

[0201] The first calculation module 1102 is configured to add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain the first angular velocity and / or the first acceleration of the aircraft;

[0202] The second calculation module 1103 is configured to add the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft;

[0203] The navigation solution module 1104 is configured to perform inertial navigation solution by using the first angular velocity and / or the first acceleration, and the first initial alignment attitude to obtain a navigation result;

[0204] The guidance and attitude control solution module 1105 is configured to perform guidance and attitude control calculations based on the navigation result to obtain a rudder deflection;

[0205] The second error generation module 1106 is configured to randomly generate a first overall parameter error value by using an overall parameter error random generation model based on a preset overall parameter error correlation value;

[0206] The third calculation module 1107 is configured to add the first overall parameter error value to the overall parameter to obtain a first overall parameter;

[0207] The trajectory solution module 1108 is configured to use the trajectory model to obtain an angular velocity and / or an acceleration based on the first overall parameter and the rudder deflection.

[0208] The further function descriptions of the above-mentioned respective modules are the same as those in the corresponding foregoing embodiments, and will not be elaborated herein.

[0209] The target shooting simulation device in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0210] The embodiment of the present invention further provides a computer device having the above Figure 11 shown target shooting simulation device.

[0211] Please refer to Figure 12 , Figure 12 which is a schematic structural diagram of a computer device provided by an alternative embodiment of the present invention. As shown in Figure 12As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting the components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if needed, multiple processors and / or multiple buses can be used with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 12 Take one processor 10 as an example in Figure 12 .

[0212] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0213] Among them, the memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the target shooting simulation method shown in the above embodiments.

[0214] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include high-speed random access memory and can also include non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0215] The memory 20 can include volatile memory, such as random access memory; the memory can also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memory.

[0216] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected through a bus or other means. Figure 12 Taking the connection through the bus as an example.

[0217] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor), etc. The above display device includes, but is not limited to, a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0218] The computer device further includes a communication interface for the computer device to communicate with other devices or communication networks.

[0219] The embodiment of the present invention further provides a computer-readable storage medium. The target shooting simulation method according to the embodiment of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented by downloading through a network and originally stored in a remote storage medium or a non-transitory machine-readable storage medium and will be stored in a local storage medium, so that the target shooting simulation method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the target shooting simulation method shown in the above embodiment is implemented.

[0220] A part of the present invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the target shooting simulation method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the forms in which computer program instructions exist in a computer-readable medium include but are not limited to source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0221] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A target shooting simulation system, characterized in that, The system includes: an inertial navigation system error random generation model, an overall parameter error random generation model, and a ballistic model; The inertial navigation system error random generation model is used to randomly generate a first inertial device error value based on various preset inertial device error related values; randomly generate a first initial alignment error based on preset initial alignment error related values; add the first inertial device error value to the angular velocity and / or acceleration output by the ballistic model to obtain the first angular velocity and / or the first acceleration of the aircraft; and add the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft; The first angular velocity and / or the first acceleration, and the first initial alignment attitude are used for inertial navigation solution, and the obtained navigation result is used for guidance and attitude control calculation to obtain the rudder deflection; The overall parameter error random generation model is used to randomly generate a first overall parameter error value based on preset overall parameter error related values; the first overall parameter error value is used to be added to the overall parameters to obtain the first overall parameters; The ballistic model is used to obtain the angular velocity and / or acceleration based on the first overall parameters and the rudder deflection.

2. The system according to claim 1, characterized in that The various inertial device error related values include gyro three-axis zero bias values, gyro three-axis zero bias stability values, gyro three-axis cross-coupling values, and / or gyro three-axis scale factor non-linearity values; The first inertial device error value includes a first Gaussian white noise, the gyro three-axis cross-coupling value, and / or the gyro three-axis scale factor non-linearity value; The first Gaussian white noise has the gyro three-axis zero bias value as the expectation and the gyro three-axis zero bias stability value as the variance.

3. The system according to claim 1, wherein The various inertial device error related values include accelerometer three-axis zero bias values, accelerometer three-axis zero bias stability values, accelerometer three-axis cross-coupling values, and accelerometer three-axis scale factor non-linearity values; The first inertial device error value includes a second Gaussian white noise, the accelerometer three-axis cross-coupling value, and / or the accelerometer three-axis scale factor non-linearity value; the second Gaussian white noise has the accelerometer three-axis zero bias value as the expectation and the accelerometer three-axis zero bias stability value as the variance.

4. The system according to claim 1, wherein The overall parameter error related values include at least one of the following: target binding deviation, initial perturbation, mass deviation, inertia deviation, centroid deviation, dynamic performance deviation, wind speed deviation, and aerodynamic parameter deviation; The first overall parameters include at least one of the following: The first target binding parameter with the target binding deviation added; The aircraft mass with the mass deviation added; The first wind speed with the wind speed deviation added; The first moment of inertia with the inertia deviation added; The first rolling moment coefficient, the first yaw moment coefficient, and the first pitch moment coefficient with the centroid deviation added; The first three-channel moment deviation with the dynamic performance deviation added; The second rolling moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient with the aerodynamic parameter deviation added; The first drag coefficient, the first lift coefficient, and the first side force coefficient with the aerodynamic parameter deviation added.

5. The system according to claim 4, characterized in that, The first moment of inertia is determined according to the nominal value of the moment of inertia and the inertia deviation; and / or, The first rolling moment coefficient, the first yaw moment coefficient, and the first pitch moment coefficient are determined according to the center-of-mass deviation, the center-of-mass movement generated by engine combustion, the axial force coefficient, the normal force coefficient, the lateral force coefficient, and the reference length; and / or, The first three-channel moment deviation is determined according to the engine thrust deviation, the nominal value of the engine thrust, the engine thrust skew angle, the engine thrust transverse shift, and the center-of-mass deviation; and / or, The second rolling moment coefficient, the second yaw moment coefficient, and the second pitch moment coefficient are determined according to the nominal value of the rolling moment coefficient, the nominal value of the yaw moment coefficient, the nominal value of the pitch moment coefficient, the constant deviation of the rolling moment coefficient, the constant deviation of the yaw moment coefficient, the constant deviation of the pitch moment coefficient, the derivative of the rolling moment coefficient with respect to the sideslip angle, the derivative of the yaw moment coefficient with respect to the sideslip angle, the derivative of the pitch moment coefficient with respect to the angle of attack, the derivative of the rolling moment coefficient with respect to the roll rudder deflection, the deviation of the derivative of the rolling moment coefficient with respect to the roll rudder deflection, the derivative of the yaw moment coefficient with respect to the yaw rudder deflection, the deviation of the derivative of the yaw moment coefficient with respect to the yaw rudder deflection, the derivative of the pitch moment coefficient with respect to the pitch rudder deflection, and the deviation of the derivative of the pitch moment coefficient with respect to the pitch rudder deflection; and / or, The first drag coefficient, the first lift coefficient, and the first side force coefficient are determined according to the nominal value of the drag coefficient, the nominal value of the lift coefficient, the nominal value of the side force coefficient, and the corresponding deviations.

6. The system according to claim 1, wherein The first inertial device error value generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or, The first initial alignment error generated by the inertial navigation system error random generation model satisfies a normal distribution; and / or, The first overall parameter error value generated by the overall parameter error random generation model satisfies a normal distribution.

7. A target shooting simulation method, characterized in that, The method includes: Using the inertial navigation system error random generation model, based on various pre-set inertial device error related values, randomly generating a first inertial device error value; based on pre-set initial alignment error related values, randomly generating a first initial alignment error; Adding the first inertial device error value to the angular velocity and / or acceleration output by the ballistic model to obtain the first angular velocity and / or the first acceleration of the aircraft; Adding the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft; Performing inertial navigation solution using the first angular velocity and / or the first acceleration, and the first initial alignment attitude to obtain a navigation result; Performing guidance and attitude control calculations based on the navigation result to obtain rudder deflections; Using the overall parameter error random generation model, based on pre-set overall parameter error related values, randomly generating a first overall parameter error value; Adding the first overall parameter error value to the overall parameters to obtain the first overall parameters; Using the ballistic model, based on the first overall parameters and the rudder deflections, to obtain angular velocity and / or acceleration.

8. A target shooting simulation device, characterized in that, The device includes: The first error generation module is configured to randomly generate a first inertial device error value by using an inertial navigation system error random generation model based on various preset inertial device error related values; and randomly generate a first initial alignment error based on preset initial alignment error related values. The first calculation module is configured to add the first inertial device error value to the angular velocity and / or acceleration output by the trajectory model to obtain the first angular velocity and / or the first acceleration of the aircraft. The second calculation module is configured to add the first initial alignment error to the initial alignment attitude to obtain the first initial alignment attitude of the aircraft. The navigation solution module is configured to perform inertial navigation solution by using the first angular velocity and / or the first acceleration, and the first initial alignment attitude to obtain a navigation result. The guidance and attitude control solution module is configured to perform guidance and attitude control calculations based on the navigation result to obtain rudder deflection. The second error generation module is configured to randomly generate a first overall parameter error value by using an overall parameter error random generation model based on preset overall parameter error related values. The third calculation module is configured to add the first overall parameter error value to the overall parameters to obtain the first overall parameters. The trajectory solution module is configured to use the trajectory model to obtain the angular velocity and / or acceleration based on the first overall parameters and the rudder deflection.

9. A computer device, characterized in that, Comprising: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the target shooting simulation method according to claim 7.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the target shooting simulation method according to claim 7.

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