Multi-type unmanned aerial vehicle swarm situation generation method based on combination of number and reality

Abstract

The invention discloses a digital-real combined multi-type unmanned aerial vehicle swarm situation generation method, which comprises the following steps: constructing a multi-type unmanned aerial vehicle swarm situation simulation environment in a simulation system, including an unmanned aerial vehicle agent model and an unmanned aerial vehicle swarm control model; the unmanned aerial vehicle swarm control model comprises a digital unmanned aerial vehicle module, a cooperative control module and an entity unmanned aerial vehicle module; planning an unmanned aerial vehicle simulation task in the unmanned aerial vehicle swarm situation simulation environment for starting and operating a digital unmanned aerial vehicle swarm and generating an entity unmanned aerial vehicle swarm route and task; the unmanned aerial vehicle simulation task comprises the steps of making a simulation scenario, initializing simulation, establishing a matching relationship between an unmanned aerial vehicle swarm control model and an unmanned aerial vehicle ground station, and starting the unmanned aerial vehicle to take off; and forming an unmanned aerial vehicle and bee colony number real combination situation through the unmanned aerial vehicle bee colony control model. According to the technical scheme, the problems that an unmanned aerial vehicle swarm combat scene is high in construction cost, large in implementation difficulty and the like can be effectively solved, the actual combat drill cost is saved, and the test period is shortened.

Description

Technical Field

[0001] The present invention relates to the field of simulation, and in particular to a method for generating a swarm situation of multiple types of unmanned aerial vehicles by combining digital and real elements. Background Art

[0003] The drone swarm system is a new combat system composed of a large number of small drones that cooperate with each other to complete the same task. In the actual combat environment, it has the characteristics of a large number of drones, complex types, and a fast update and iteration speed of the control process. However, in the process of actual combat exercises and combat training, based on factors such as cost, equipment quantity, and equipment status, it cannot be fully reflected in the actual combat scenario. Therefore, the actual combat exercises of drone swarms have problems such as high cost and difficulty in fully realizing the scenario.

[0004] To address this problem, the present invention provides a digital-real combination simulation technology solution for system confrontation against drone swarms, which can use a small number of physical drones to quickly build a drone swarm virtual-real combination scenario to support equipment in conducting anti-drone swarm combat training. Summary of the invention

[0005] To achieve the above object, the present invention provides a method for generating a swarm situation of multiple types of drones by combining digital and real elements, comprising the following steps:

[0006] A multi-type UAV swarm situation simulation environment is constructed in the simulation system. The simulation environment includes a UAV agent model and a UAV swarm control model, which is used to realize UAV swarm simulation. Among them, the swarm forms of UAVs include: fully digital, fully physical, and digital + physical; the UAV swarm control model includes: digital UAV module, collaborative control module, and physical UAV module;

[0007] Planning drone simulation tasks in a multi-type drone swarm situation simulation environment, the drone simulation tasks are used to start and run digital drone swarms, and generate physical drone swarm routes and tasks; the drone simulation tasks include: making simulation assumptions, initializing simulations, establishing a matching relationship between the drone swarm control model and the drone ground station, and taking off the physical drone;

[0008] The drone agent model is driven by the drone swarm control model, so that the digital drone swarm, physical drone swarm and digital-real combined drone swarm can jointly form a digital-real combination of drones and swarms.

[0009] Among them, the drone swarm control model has network communication function and exchanges data with the corresponding drone ground station; the drone swarm control model and the drone agent model realize memory interaction.

[0010] Among them, when the swarm form of drones is fully digital, the simulation system runs the digital drone module to generate a digital drone swarm;

[0011] When the swarm form of drones is fully physical, the simulation system runs the drone proxy model to generate a physical drone swarm;

[0012] When the swarm form of drones is digital + physical, the simulation system runs the digital drone module and the drone agent model to generate a drone swarm that combines digital and physical elements.

[0013] Data interaction includes:

[0014] The drone swarm control model sends drone handles, routes, and missions to the drone ground station;

[0015] The UAV ground station establishes a matching relationship between the UAV swarm control model and the physical UAV, and sends the route and mission to the corresponding physical UAV through wireless communication;

[0016] During the flight of the physical drone, the flight data and status are transmitted to the drone ground station in real time, and the drone ground station sends the flight data and status to the simulation system.

[0017] Furthermore, when making simulation scenarios, the routes and tasks of the drone swarm are planned in the scenarios; the drone forms support: fully digital, fully physical, and digital + physical, and the types of drones support multiple types;

[0018] When performing simulation initialization, the UAV ground station establishes network communication with the simulation system and reports the initial state to the simulation system. The initial state includes: the type of UAV and the number of UAVs.

[0019] Starting the drone takeoff includes: physical drone takeoff, the physical drone flies according to the route of the drone swarm; digital drone takeoff, the digital drone automatically operates according to the route and mission planned in the scenario to form a digital drone swarm.

[0020] Among them, establishing the matching relationship between the UAV swarm control model and the UAV ground station includes:

[0021] The drone swarm control model sends each drone’s handle, route, and mission to the drone ground station;

[0022] The UAV ground station establishes a matching relationship between the UAV swarm control model and the physical UAV, and sends the routes and tasks to the corresponding physical UAV through wireless communication.

[0023] Furthermore, when a combination of digital and physical drones and swarms is formed, if the drone's form is digital + physical, the digital drone adjusts its own flight status in real time according to the flight data of the physical drone to maintain a stable formation within the swarm.

[0024] According to the present invention, based on the simulation system uniformly controlling the flight routes and tasks of the digital and physical drone swarms, and the physical drone data driving the operation of the drone proxy model, the digital drones are coordinated to form a digital-physical combination in the simulation system. This can effectively solve the problems of high cost and difficulty in building drone swarm combat scenarios, save the cost of actual combat exercises, and shorten the test cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a step diagram of a method for generating a swarm situation of multiple types of drones provided in an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a multi-type drone swarm situation generation structure provided according to an embodiment of the present invention;

[0027] Figure 3 1. It is a schematic diagram of data interaction in a multi-type UAV swarm situation generation process according to an embodiment of the present invention;

[0028] Figure 4 This is an example diagram of the combined situation of multiple types of drone swarm data provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In the solution provided by the present invention, the routes and tasks of the digital drone swarm and the physical drone swarm are uniformly planned through the simulation system before the simulation is performed. During the simulation process, the data of the physical drone is used to drive the drone proxy model to run, and the digital drones are coordinated to form a digital-physical drone swarm. The solution provided by the present invention also supports the simultaneous access of multiple types of drones, forming a digital-physical combination situation composed of three forms of swarms: a fully digital drone swarm, a fully physical drone swarm, and a digital-physical combination drone swarm.

[0030] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings.

[0031] Figure 1 The method and steps for generating multi-type UAV swarm situation are provided, including:

[0032] Step S100: constructing a multi-type UAV swarm situation simulation environment in the simulation system, wherein the multi-type UAV swarm situation simulation environment includes a UAV proxy model and a UAV swarm control model, and the UAV proxy model and the UAV swarm control model are combined with a UAV ground station and a physical UAV to realize UAV swarm simulation;

[0033] Among them, the drone swarm control model has the ability to uniformly control the coordinated flight of digital drones and physical drones.

[0034] According to the types of supported drones, the drone swarm control model involved in the present invention includes a micro drone swarm control model, a light and small drone swarm control model, and a medium and small drone swarm control model.

[0035] According to the attributes of the supported drones, the drone swarm control model supports digital drone swarms, physical drone swarms and digital-physical combined drone swarms; based on this attribute feature, the swarm forms of drones in the present invention specifically include: all digital, all physical and digital + physical.

[0036] The specific implementation structure of the multi-type UAV swarm situation simulation environment proposed by the present invention is as follows: Figure 2 As shown: Among them, the drone swarm control model has a network communication function and can interact with the corresponding drone ground station for data; on the other hand, the drone swarm control model and the drone agent model can realize memory interaction;

[0037] In the specific implementation process, the drone swarm control model realizes the drone swarm simulation through the digital drone module, the collaborative control module and the physical drone module, as follows:

[0038] 1) The digital drone module is used to generate multiple digital drones and control the digital drones to fly and perform tasks according to the planned routes.

[0039] Only run this module when the model is set to "all digital" form.

[0040] 2) The physical drone module has the function of communicating with the drone ground station network, can send the drone initial parameters, routes and tasks, can receive the physical drone flight data and drive the drone proxy model to run.

[0041] When the model is set to "Fully Solid" form, only the solid drone module will run.

[0042] 3) The collaborative control module is used to control the collaborative formation flight of digital drones and physical drones. Based on the flight data of physical drones, the flight status of digital drones is adjusted in real time to form a drone swarm of digital and physical mixed formations.

[0043] Based on the above structure, the network communication between the drone swarm control model and the drone ground station specifically includes the following:

[0044] 1) The drone swarm control model sends the drone handles, routes, and missions to the drone ground station;

[0045] 2) The UAV ground station establishes a matching relationship between the UAV swarm control model and the physical UAV, and sends the route and mission to the corresponding physical UAV through wireless communication;

[0046] 3) During the flight of the physical drone, the flight data and status are transmitted to the drone ground station in real time, and the drone ground station sends the flight data and status to the simulation system.

[0047] 4) The drone proxy model is driven by the flight data of the physical drone, mapping the flight status of the physical drone to the simulation system in real time.

[0048] The present invention provides a specific implementation case, in which a micro-UAV swarm control model and a light small UAV swarm control model are created in a simulation system; the simulation system interacts with the UAV ground station through wired Ethernet communication, and the UAV ground station interacts with the physical UAV through wireless Ethernet communication. The specific interaction information and interaction content are as follows: Figure 3 shown.

[0049] Step S110: planning a drone simulation task in a multi-type drone swarm situation simulation environment. The drone simulation task is used to start and run a digital drone swarm and generate a physical drone swarm route and task, including:

[0050] Step S111: Create a simulation scenario, which includes two or more types of physical drone swarms, covering drone swarms in three forms: "all digital", "all physical", and "digital + physical", and plan the routes and tasks of the drone swarms;

[0051] In the specific case provided by the present invention, it is assumed that the red side deploys anti-drone swarm equipment, and the blue side deploys micro-drone swarms and light and small drone swarms; the drone swarm forms include three forms: fully digital drone swarms, fully physical drone swarms, and digital-physical drone swarms. Based on the assumptions, the simulation system generates the routes and tasks of each drone swarm according to the combat mission.

[0052] Step S112: Simulation initialization: In this process, each UAV ground station establishes network communication with the simulation system and reports the initial status (including UAV type, quantity, etc.) to the simulation system;

[0053] Step S113: Establishing a matching relationship between the drone swarm control model and the drone ground station; in this step, the drone swarm control model sends each drone handle, route and task to the drone ground station; the drone ground station establishes a matching relationship between the drone swarm control model and the physical drone, and sends the route and task to the corresponding physical drone through wireless communication;

[0054] Step S114: Start the drone to take off; at this time, the physical drone takes off and flies according to the route generated by the simulation system in step S111; the multiple digital drones generated by the digital drone module also automatically operate according to the routes and tasks planned in the scenario to form a digital drone swarm.

[0055] At this point, the physical drone takes off, a digital drone swarm is generated, and the physical drone data transmission is executed according to the routes and tasks of each drone swarm. Specifically, the physical drone sends the flight data and status to the drone ground station in real time through wireless communication, and the drone ground station integrates the flight data and status and periodically reports them to the simulation system.

[0056] In the implementation case provided by the present invention, it is assumed that the blue side deploys 4 micro-UAV swarms and 3 light and small UAV swarms, among which the micro-UAV swarms include 3 fully digital swarms (each swarm contains 20 digital UAVs) and 1 digital-real combined UAV swarm (containing 6 digital UAVs and 8 physical UAVs); the light and small UAV swarm includes 1 fully digital swarm (containing 40 digital UAVs), 1 fully physical UAV swarm (containing 3 digital UAVs and 3 physical UAVs) and 1 digital-real combined UAV swarm (containing 3 physical UAVs).

[0057] Step S120: Forming a digital-physical combination of drones and swarms: In this step, the drone swarm control model uses the physical drone data to drive the drone agent model to run; if the drone swarm is in a "digital + physical" form, the digital drone adjusts its own flight status in real time according to the physical drone flight data to maintain a stable formation within the swarm.

[0058] At this point, the digital drone swarm, physical drone swarm and digital-real combined drone swarm in the scene together form a digital-real combination of drones and swarms.

[0059] In the implementation case provided by the present invention, the combination of numbers and reality is as follows Figure 4 As shown, the simulation system sends the digital and real situation to the Red Army's equipment for tracking and interception.

[0060] In the present invention, the simulation system uniformly controls the flight routes and tasks of the digital and physical drone swarms, and the physical drone data drives the operation of the drone proxy model, so that the digital drones can work together to form a digital-physical combination in the simulation system. This can effectively solve the problems of high cost and difficulty in building drone swarm combat scenarios, save costs, and shorten the test cycle.

[0061] The above disclosures are only several specific embodiments of the present invention; however, the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A method for generating multi-type drone swarm situations by combining numerical and real methods, characterized in that: The following steps are involved: A multi-type UAV swarm situation simulation environment is constructed in the simulation system, and the multi-type UAV swarm situation simulation environment includes a UAV agent model and a UAV swarm control model, which are used to realize UAV swarm simulation; wherein the swarm forms of UAVs include: fully digital, fully physical, and digital + physical; the UAV swarm control model includes: a digital UAV module, a collaborative control module, and a physical UAV module; Planning a drone simulation task in the multi-type drone swarm situation simulation environment, the drone simulation task is used to start and run a digital drone swarm, generate a physical drone swarm route and task; the drone simulation task includes: making simulation assumptions, initializing the simulation, establishing a matching relationship between a drone swarm control model and a drone ground station, and starting the drone to take off; The drone agent model is driven by the drone swarm control model, so that the digital drone swarm, the physical drone swarm and the digital-physical combined drone swarm can jointly form a digital-physical combined situation of drones and swarms.

2. The method for generating a multi-type UAV swarm situation according to claim 1, characterized in that: The drone swarm control model has a network communication function and performs data interaction with the corresponding drone ground station; the drone swarm control model realizes memory interaction with the drone proxy model.

3. The method for generating a multi-type UAV swarm situation according to claim 1, characterized in that: When the swarm form of the drone is fully digital, the simulation system runs a digital drone module to generate a digital drone swarm; When the swarm form of the drones is fully physical, the simulation system runs the drone proxy model to generate a physical drone swarm; When the swarm form of the drone is digital + physical, the simulation system runs the digital drone module and the drone agent model to generate a drone swarm that combines digital and physical elements.

4. The method for generating a multi-type UAV swarm situation according to claim 2, characterized in that: The data interaction includes: The drone swarm control model sends drone handles, routes, and missions to the drone ground station; The UAV ground station establishes a matching relationship between the UAV swarm control model and the physical UAV, and sends the route and mission to the corresponding physical UAV through wireless communication; During the flight of the physical drone, the flight data and status are transmitted to the drone ground station in real time, and the drone ground station sends the flight data and status to the simulation system.

5. The method for generating a multi-type UAV swarm situation according to claim 1, characterized in that: When making the simulation scenario, the route and mission of the drone swarm are planned in the scenario; wherein the drone forms support: fully digital, fully physical, and digital + physical, and the drone types support multiple types; When executing the simulation initialization, the UAV ground station establishes network communication with the simulation system and reports the initial state to the simulation system. The initial state includes: the type of UAV and the number of UAVs.

6. The method for generating a multi-type drone swarm situation according to claim 5 is characterized in that: The starting of the drone takeoff comprises: The physical drone takes off, and the physical drone flies according to the route of the drone swarm; The digital drones take off, and the digital drones automatically operate according to the routes and tasks planned in the scenario to form a digital drone swarm.

7. The method for generating a multi-type UAV swarm situation according to claim 5, characterized in that: The establishment of a matching relationship between the drone swarm control model and the drone ground station includes: The drone swarm control model sends each drone handle, route and mission to the drone ground station; The drone ground station establishes a matching relationship between the drone swarm control model and the physical drone, and sends the route and mission to the corresponding physical drone through wireless communication.

8. The method for generating a multi-type UAV swarm situation according to claim 1, characterized in that: When the drone and swarm are combined in digital and physical form, if the drone is in the form of digital + physical, the digital drone adjusts its own flight state in real time according to the flight data of the physical drone to maintain a stable formation within the swarm.

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