Unmanned reconnaissance aircraft simulation training method and system

Abstract

The invention provides an unmanned reconnaissance aircraft simulation training method and system. The simulation evaluation method comprises the following steps: receiving an unmanned reconnaissance aircraft training task; acquiring a simulated route planned by the trainee according to the training task, and evaluating the route planning ability of the trainee according to a judgment result of the simulated route; acquiring images shot by the trainees according to the training tasks; in response to a target positioning operation of a student on the image, recording a positioning point selected during the positioning operation and a moving track point set after the positioning operation, and calculating a coordinate of the positioning point selected during the positioning operation on the image; according to the target mapping data, the coordinates of the positioning points and the track point set, target positioning of the trainee is judged, the target interpretation ability of the trainee is evaluated according to the target positioning judgment result, and targeted training is conducted on the trainee according to the evaluation result. The unmanned reconnaissance aerial vehicle simulation training method is high in pertinence and low in cost.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned reconnaissance aircraft training, and in particular to an unmanned reconnaissance aircraft simulation training method and system. Background Art

[0002] Unmanned reconnaissance aircraft are mainly used to perform aerial reconnaissance, target search, positioning and other tasks. Whether the route planning is correct and the target positioning is accurate are the most important assessment indicators in unmanned reconnaissance aircraft training.

[0003] When unmanned reconnaissance aircraft are put into use, it is necessary to conduct a corresponding assessment of the operating ability of the unmanned reconnaissance aircraft operators, and conduct targeted training after finding the deficiencies of the trainees based on the assessment results. At present, the training for unmanned reconnaissance aircraft operators mainly includes real operation training and simulation training. The real operation training is mainly navigation training. In the actual operation process, it is difficult to quickly and accurately judge the right and wrong of route planning. Incorrect route planning will increase the risk of crashing. At the same time, when training in flight reconnaissance targets, it is necessary to apply for airspace and prepare various types of targets in advance, and the material and manpower costs of training are high. Simulation training mainly focuses on the operator's training of flight control, and the effect is not good. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide an unmanned reconnaissance aircraft simulation training method and system to solve the technical problems existing in the prior art.

[0005] The present invention provides a simulation training method for an unmanned reconnaissance aircraft, comprising: Receive unmanned reconnaissance aircraft training missions; Obtaining a simulated route planned by the trainee according to the training task, judging the simulated route, and evaluating the route planning ability of the trainee according to the judgment result of the simulated route; Obtaining an image taken by a trainee according to the training task, the image containing a number of targets to be located, and extracting target mapping data from the taken image, the target mapping data being used to reflect the area where the target is identified on the image; In response to the trainee's target positioning operation on the image, the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation are recorded, and the coordinates of the positioning point selected during the positioning operation on the image are calculated; Determining the trainee's target positioning according to the target mapping data, the coordinates of the positioning point, and the trajectory point set, and evaluating the trainee's target interpretation ability according to the target positioning determination result; Provide targeted training to trainees based on the assessment results of their route planning ability and target interpretation ability.

[0006] Optionally, the step of obtaining a simulated route planned by the trainee according to the training task and judging the simulated route includes: Loading the GIS map, obtaining the waypoints and the height marks of the waypoints drawn by the trainees on the GIS map according to the training task; Connect adjacent waypoints into a straight line to form a closed-loop planned route, and store the completion time of the planned route, waypoint information in the planned route, take-off point, and prepared return landing point in the route planning table of the data storage component; Determine the coordinates of all observation points in the planned route and the coordinates of all obstacles; Completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation are performed in sequence to determine whether the planned simulation route meets the requirements.

[0007] Optionally, the step of sequentially performing completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation to determine whether the planned simulated route meets the requirements includes: Determine whether the completion time is not greater than the preset evaluation time to conduct a completion time evaluation. If not, the evaluation is unqualified. If yes, proceed to the next evaluation step. Determine whether the horizontal distance difference between the take-off point and the prepared return landing point is less than a preset horizontal distance difference, so as to perform a two-point normalization evaluation; if not, the evaluation is unqualified; if so, proceed to the next step of evaluation; Obtain the altitude of all waypoints, and determine whether the altitude of the prepared return landing point is not less than the altitude of other waypoints, so as to perform flight altitude assessment. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Obtain the obstacle height according to the obstacle coordinates, and determine whether the height difference between all waypoints and the obstacle is not less than the preset height difference, so as to evaluate the height of the obstacle avoidance. If not, the evaluation is unqualified. If yes, proceed to the next step of evaluation; According to the coordinates of the observation points, determine whether the distances between all observation points and the route are within the preset distance range to conduct observation point coverage assessment. If not, the assessment is unqualified. If yes, proceed to the next step of assessment; All observation points are connected based on the principle of shortest distance. The total length of all observation points after connection is taken as the optimal path length. The route length is evaluated based on the ratio of the simulated route length and the optimal path length, and finally it is determined whether the planned simulated route meets the requirements.

[0008] Optionally, the obstacle avoidance height assessment further includes: if there is a height difference between a certain waypoint and an obstacle that is less than a preset height difference, then: Get the preset height difference H1, the height of the waypoint H2, the distance from the waypoint to the take-off point L2, and the distance from the obstacle to the take-off point L1, and determine whether H1, H2, L2, and L1 satisfy the following inequality:

[0009] If the above inequality is satisfied, the obstacle avoidance height assessment is qualified, and if the above inequality is not satisfied, the obstacle avoidance height assessment is unqualified.

[0010] Optionally, the step of judging whether the distances between all observation points and the route are within a preset distance range according to the coordinates of the observation points to perform observation point coverage assessment includes: Obtain the distance D1 between two adjacent waypoints in the simulated route, and the distances D2 and D3 from the observation point to the two adjacent waypoints respectively; If the observation point is within the route formed by two adjacent waypoints, the distance H from the observation point to the route is min1 is 0; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form an obtuse triangle or are on the same straight line, then the distance H from the observation point to the route is min1 is the smaller value of D2 and D3; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form a right triangle or an acute triangle, then the distance from the observation point to the route is:

[0011] Determine the distance H from the observation point to the route min1 Whether it is within the preset distance range.

[0012] Optionally, the step of calculating the coordinates of the positioning point selected during the positioning operation on the image includes: Obtain the current position and altitude of the unmanned reconnaissance aircraft when taking the image, the field of view of the camera of the unmanned reconnaissance aircraft, the pitch, roll and heading information of the unmanned reconnaissance aircraft, and the pitch and heading information of the camera; The pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera are uniformly converted and superimposed to obtain the attitude information of the camera relative to the ground; The center point of the image is obtained according to the posture information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and the coordinates of the center point are calculated; Calculate the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft according to the coordinates of the center point and the current position of the unmanned reconnaissance aircraft; Construct an image transformation matrix based on the field of view of the camera of the unmanned reconnaissance aircraft, the size of the image, and the posture information of the camera relative to the ground; Obtain the offset position of the positioning point relative to the center point, and convert the offset position into the distance component between the positioning point and the center point in the directions perpendicular to and coinciding with the line of sight center according to the image transformation matrix; The coordinates of the positioning point on the image are calculated according to the coordinates of the center point and the distance component.

[0013] Optionally, the attitude information conversion expression between the unmanned reconnaissance aircraft and the camera is:

[0014] In the formula, Indicates the attitude information of the unmanned reconnaissance aircraft. Indicates the camera's posture information; The expression of the longitude coordinate of the center point is:

[0015] The expression for the latitude coordinate of the center point is:

[0016] The expression for the horizontal distance is:

[0017] In the formula, are the longitude and latitude coordinates of the center point of the image, d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft, The longitude and latitude coordinates of the current position of the unmanned reconnaissance aircraft, is the altitude of the unmanned reconnaissance aircraft, They are the pitch and heading information of the camera relative to the ground. is the radius of the Earth; The expression of the longitude coordinate of the positioning point on the image is:

[0018] The expression of the latitude coordinate of the positioning point on the image is:

[0019] In the formula, are the longitude and latitude coordinates of the positioning point on the image, is the distance between the positioning point and the center point, The north angle between the positioning point and the center point;

[0020]

[0021] In the formula, They are the distance components between the positioning point and the center point in the directions perpendicular to and coinciding with the center of sight.

[0022] Optionally, the step of judging the target positioning of the trainee according to the target mapping data, the coordinates of the positioning point and the trajectory point set, and evaluating the target interpretation ability of the trainee according to the judgment result of the target positioning includes: Obtain the time it takes for the trainee to complete all target positioning, and determine whether the positioning time is not greater than the preset positioning time. If not, the assessment is unqualified. If yes, proceed to the next step of assessment. Determine the types and locations of all targets, calculate the interval distance between the positioning point and the corresponding target, and determine whether the interval distance is not greater than the preset interval distance. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Calculate the reference similarity between the positioning point position and the corresponding target position, adjust the reference similarity greater than the preset similarity according to the trajectory point set, and determine whether the adjusted similarity is greater than the preset similarity. If so, determine that the positioning is accurate and the target is found, otherwise the positioning fails; The positioning rate is calculated based on the ratio of the number of targets found by the trainees to the number of actual targets, and performance statistics are performed based on the positioning rate and the average similarity. The trainees' target interpretation ability is evaluated based on the performance statistics.

[0023] Optionally, the step of calculating a reference similarity between the location of the positioning point and the corresponding target location comprises: If the location of the positioning point is within the area where a target can be identified on the image, the baseline similarity between the location of the positioning point and the corresponding target location is is 100%; If the location of the positioning point is outside the area where a certain target can be identified on the image, the benchmark similarity is calculated based on the display area of ​​the area where the target can be identified in the current image and the shortest distance from the location of the positioning point to the area where the target can be identified; The calculation expression of the benchmark similarity is:

[0024] In the formula, Indicates the display area of ​​the target that can be identified in the current image. Indicates the shortest distance from the location of the positioning point to the area where the target can be identified. Represents the baseline similarity.

[0025] The present invention also provides an unmanned reconnaissance aircraft simulation training system, comprising: A receiving module, used for receiving unmanned reconnaissance aircraft training tasks; A first evaluation module is used to obtain a simulated route planned by a trainee according to the training task, judge the simulated route, and evaluate the route planning ability of the trainee according to the judgment result of the simulated route; A shooting module is used to obtain images shot by trainees according to the training task, the images contain a number of targets to be located, and extract target mapping data from the shot images, the target mapping data is used to reflect the area where the target is identified on the image; A calculation module, for responding to the trainee's target positioning operation on the image, recording the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation, and calculating the coordinates of the positioning point selected during the positioning operation on the image; A second evaluation module is used to determine the target positioning of the trainee based on the target mapping data, the coordinates of the positioning point and the trajectory point set, and to evaluate the target interpretation ability of the trainee based on the determination result of the target positioning; The training module is used to provide targeted training to trainees based on the assessment results of route planning ability and target interpretation ability.

[0026] Compared with the prior art, the present invention has the following beneficial effects: the unmanned reconnaissance aircraft simulation training method provided by the present application first receives an unmanned reconnaissance aircraft training task, and the trainee performs route simulation and target positioning according to the unmanned reconnaissance aircraft training task, obtains the simulated route planned by the trainee according to the training task, judges the simulated route, and then judges and evaluates the route planning ability of the trainee, obtains the image taken by the trainee according to the training task, and the image contains a number of targets to be positioned, extracts target mapping data from the taken image, and the target mapping data is used to reflect the area where the target is identified on the image, responds to the target positioning operation of the trainee on the image, records the positioning point selected during the positioning operation and the trajectory point set moved after the positioning operation, calculates the coordinates of the positioning point selected during the positioning operation on the image, compares and judges the coordinates of the positioning point with the preset target in the unmanned aerial vehicle reconnaissance task, and simulates the trainee's target judgment ability evaluation according to the unmanned reconnaissance aircraft task. The unmanned reconnaissance aircraft simulation training method provided by the present application can simulate and evaluate the trainee's route planning ability and target positioning ability based on the simulation scene, and then can train the trainee in a targeted manner according to the trainee's ability, which greatly increases the targetedness of the trainee's training, reduces the training cost, and has a good training effect; it is suitable for large-scale promotion.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a flow chart of the unmanned reconnaissance aircraft simulation training method in Embodiment 1 of the present invention; Figure 2 This is a structural block diagram of a computer in Embodiment 4 of the present invention.

[0029] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0032] Embodiment 1 See also Figure 1 , which is a simulation training method for an unmanned reconnaissance aircraft in a first embodiment of the present invention, is used to evaluate the trainees' route planning ability and target interpretation ability, and specifically includes steps S10 to S60: S10, receiving the unmanned reconnaissance aircraft training mission; In specific implementation, a target search task can be set through the back end and sent to the trainees. The trainees plan the route path of the unmanned reconnaissance aircraft according to the target search task to find the target. This embodiment is used to evaluate the trainees' route planning ability and target interpretation ability. First, the training task is set through the task management component, wherein the training task includes at least the route planning subject and the target search and positioning subject of the unmanned reconnaissance aircraft. The content of the route planning subject includes the number of observation points, the name and location of the observation point, the location and effective distance of the interference point, the completion time and other parameters. The content of the search and positioning subject includes the number and type of targets, the location of the target, the type of scene, the completion time and other parameters. The content of the training subject is stored in the job task table JobTaskTable of the data storage component, so as to facilitate the subsequent selection of training subjects and start training according to the job requirements.

[0033] S20, obtaining a simulated route planned by the trainee according to the training task, judging the simulated route, and evaluating the route planning ability of the trainee according to the judgment result of the simulated route; Optionally, the step of obtaining a simulated route planned by the trainee according to the training task and judging the simulated route includes: Loading the GIS map, obtaining the waypoints and the height marks of the waypoints drawn by the trainees on the GIS map according to the training task; Connect adjacent waypoints into a straight line to form a closed-loop planned route, and store the completion time of the planned route, waypoint information in the planned route, take-off point, and prepared return landing point in the route planning table of the data storage component; Determine the coordinates of all observation points in the planned route and the coordinates of all obstacles; Completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation are performed in sequence to determine whether the planned simulation route meets the requirements.

[0034] In the specific implementation, after the trainee logs into the system, he / she selects the "route planning training" mode. The system loads the preset subject parameters through the task management component, and automatically calls the GIS map to display the training area; the trainee can mark the waypoints on the GIS map according to the place names and restrictions of the operation prompts of the unmanned reconnaissance aircraft training task, and the marked waypoints are marked with height marks through digital circles; the system displays the straight track between adjacent waypoints in real time, and dynamically adjusts the closed-loop path; the steps of connecting the waypoints can be: adjacent waypoints are connected into a straight line to form a track, when a new waypoint is added, the system automatically disconnects the connection between the newest waypoint and the starting point, and connects it to the latest waypoint. At least 4 waypoints are required for route planning, so the tracks connected by the waypoints are all closed loops. After the marking is completed, the trainee submits the route; after the waypoint marking is completed, the completion time, waypoint information, take-off point, and prepared return landing point are stored in the route planning table RoutePlaningTable of the data storage component, and the route planning is evaluated.

[0035] The steps of sequentially performing completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation to determine whether the planned simulated route meets the requirements include: Determine whether the completion time is not greater than the preset evaluation time to conduct a completion time evaluation. If not, the evaluation is unqualified. If yes, proceed to the next evaluation step. Determine whether the horizontal distance difference between the take-off point and the prepared return landing point is less than a preset horizontal distance difference, so as to perform a two-point normalization evaluation; if not, the evaluation is unqualified; if so, proceed to the next step of evaluation; Obtain the altitude of all waypoints, and determine whether the altitude of the prepared return landing point is not less than the altitude of other waypoints, so as to perform flight altitude assessment. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Obtain the obstacle height according to the obstacle coordinates, and determine whether the height difference between all waypoints and the obstacle is not less than the preset height difference, so as to evaluate the height of the obstacle avoidance. If not, the evaluation is unqualified. If yes, proceed to the next step of evaluation; According to the coordinates of the observation points, determine whether the distances between all observation points and the route are within the preset distance range to conduct observation point coverage assessment. If not, the assessment is unqualified. If yes, proceed to the next step of assessment; All observation points are connected based on the principle of shortest distance. The total length of all observation points after connection is taken as the optimal path length. The route length is evaluated based on the ratio of the simulated route length and the optimal path length, and finally it is determined whether the planned simulated route meets the requirements.

[0036] The obstacle avoidance height assessment further includes: if there is a height difference between a certain waypoint and an obstacle that is less than a preset height difference, then: Get the preset height difference H1, the height of the waypoint H2, the distance from the waypoint to the take-off point L2, and the distance from the obstacle to the take-off point L1, and determine whether H1, H2, L2, and L1 satisfy the following inequality:

[0037] If the above inequality is satisfied, the obstacle avoidance height assessment is qualified, and if the above inequality is not satisfied, the obstacle avoidance height assessment is unqualified.

[0038] The step of determining whether the distances between all observation points and the route are within a preset distance range according to the coordinates of the observation points to evaluate the observation point coverage includes: Obtain the distance D1 between two adjacent waypoints in the simulated route, and the distances D2 and D3 from the observation point to the two adjacent waypoints respectively; If the observation point is within the route formed by two adjacent waypoints, the distance H from the observation point to the route is min1 is 0; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form an obtuse triangle or are on the same straight line, then the distance H from the observation point to the route is min1 is the smaller value of D2 and D3; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form a right triangle or an acute triangle, then the distance from the observation point to the route is:

[0039] Determine the distance H from the observation point to the route min1 Whether it is within the preset distance range.

[0040] Optionally, the preset horizontal distance difference can be 50 meters; the preset distance range between the observation point and the route can be ±100 meters; Hmin1≤100 meters, which means that the route planning can find 1 observation point, and calculate all routes and observation points in turn. If all are found, proceed to the next step, otherwise jump out of the evaluation and be judged as failing; the proportional factor of the simulated route length and the optimal path length can be recorded as Ss, if Ss≤1.1, the final score is excellent, if 1.1<Ss≤1.2, the final score is good, if 1.2<Ss≤1.3, the final score is passing, and if Ss>1.3, the final score is failing.

[0041] S30, obtaining an image taken by the trainee according to the training task, the image containing a number of targets to be located, and extracting target mapping data from the taken image, the target mapping data being used to reflect the area where the target is identified on the image; Optionally, when conducting the target search and positioning training course, the trainee enters the "search and positioning training"; first, the 3D scene simulation component generates the 3D software model of the unmanned reconnaissance aircraft, the 3D software model of the target and the 3D terrain environment (such as mountain, city or desert terrain) according to the operation requirements, and randomly distributes the targets (such as vehicles, buildings or personnel models). The trainee controls the flight speed, altitude and payload attitude (pitch angle, roll angle) of the virtual unmanned reconnaissance aircraft, and simulates the reconnaissance flight through the first-person perspective interface. The system provides a "target search auxiliary mode": if the trainee fails to find the target for a long time, the interface will gradually display the hot zone prompt (such as the area around the target gradually turns red); after finding the target, the trainee needs to adjust the payload focal length (control the image magnification through the mouse wheel) and shoot, and save the image information of the search and photo to the image information table PictureInfoTable; the image processing simulation component loads the image from PictureInfoTable to simulate the target positioning function; the trainee needs to circle the target area on the image with the mouse track and double-click to confirm the positioning. After all targets are located, the evaluation process of search and positioning is performed; the positioning simulation first needs to extract the mapping data of the target, which is a set or array of point sets indicating the area Ω where one or more targets captured in the image image can be identified on the image image.

[0042] S40, in response to the trainee's target positioning operation on the image, recording the positioning point selected during the positioning operation and the trajectory point set moved after the positioning operation, and calculating the coordinates of the positioning point selected during the positioning operation on the image; Optionally, starting from when the student clicks the positioning button, the positioning point selected by the student during the positioning operation and the mouse trajectory point set are recorded, and the coordinates of the positioning point selected during the positioning operation on the image are calculated.

[0043] Optionally, the step of calculating the coordinates of the positioning point selected during the positioning operation on the image includes: Get the current position lon, lat, height h of the drone when taking the image, the field of view fov of the drone's camera, the drone's pitch dronePitch, roll droneroll, and heading droneYaw attitude information, and the camera's pitch payloadPitch and heading payloadYaw attitude information; The pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera are uniformly converted and superimposed to obtain the attitude information of the camera relative to the ground, including finalPitch, finalRoll, and finalYaw; The center point of the image is obtained based on the posture information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and the coordinates of the center point0 (lon0, lat0) are calculated; Calculate the horizontal distance d0 between the center point of the image and the unmanned reconnaissance aircraft based on the coordinates of the center point and the current position of the unmanned reconnaissance aircraft; Construct an image transformation matrix based on the field of view of the camera of the unmanned reconnaissance aircraft, the size of the image, and the posture information of the camera relative to the ground; Get the offset position (Δx, Δy) of the positioning point relative to the center point, and convert the offset position into the distance components (Δx', Δy') between the positioning point and the center point in the directions perpendicular to and coinciding with the line of sight center according to the image transformation matrix; The coordinates of the positioning point on the image are calculated according to the coordinates of the center point and the distance component.

[0044] The expression for the attitude information conversion between the unmanned reconnaissance aircraft and the camera is:

[0045] In the formula, Indicates the attitude information of the unmanned reconnaissance aircraft. Indicates the camera's posture information; The expression of the longitude coordinate of the center point is:

[0046] The expression for the latitude coordinate of the center point is:

[0047] The expression for the horizontal distance is:

[0048] In the formula, are the longitude and latitude coordinates of the center point of the image, d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft, The longitude and latitude coordinates of the current position of the unmanned reconnaissance aircraft, is the altitude of the unmanned reconnaissance aircraft, They are the pitch and heading information of the camera relative to the ground. is the radius of the Earth; The expression of the longitude coordinate of the positioning point on the image is:

[0049] The expression of the latitude coordinate of the positioning point on the image is:

[0050] In the formula, are the longitude and latitude coordinates of the positioning point on the image, is the distance between the positioning point and the center point, The north angle between the positioning point and the center point;

[0051]

[0052] In the formula, They are the distance components between the positioning point and the center point in the directions perpendicular to and coinciding with the center of sight.

[0053] Optionally, a ray is emitted from the current position lon, lat of the unmanned reconnaissance aircraft to a pitch angle of finalPitch and a direction of finalYaw, and the intersection of the ray and the ground is the center point point0 of the image image; the image transformation matrix can transform the rectangle Rect in the image field of view into an approximate trapezoid Rect' corresponding to the ground; the target mapping data, trajectory point set and other data are stored in the target list table TargetListTable.

[0054] S50, judging the trainee's target positioning according to the target mapping data, the coordinates of the positioning point and the trajectory point set, and evaluating the trainee's target interpretation ability according to the judgment result of the target positioning.

[0055] The step of judging the target positioning of the trainee according to the target mapping data, the coordinates of the positioning point and the trajectory point set, and evaluating the target interpretation ability of the trainee according to the judgment result of the target positioning comprises: Obtain the time it takes for the trainee to complete all target positioning, and determine whether the positioning time is not greater than the preset positioning time. If not, the assessment is unqualified. If yes, proceed to the next step of assessment. Determine the types and locations of all targets, calculate the interval distance between the positioning point and the corresponding target, and determine whether the interval distance is not greater than the preset interval distance. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Calculate the reference similarity between the positioning point position and the corresponding target position, adjust the reference similarity greater than the preset similarity according to the trajectory point set, and determine whether the adjusted similarity is greater than the preset similarity. If so, determine that the positioning is accurate and the target is found, otherwise the positioning fails; The positioning rate is calculated based on the ratio of the number of targets found by the trainees to the number of actual targets, and performance statistics are performed based on the positioning rate and the average similarity. The trainees' target interpretation ability is evaluated based on the performance statistics.

[0056] The step of calculating the benchmark similarity between the positioning point position and the corresponding target position comprises: If the location of the positioning point is within the area where a target can be identified on the image, the baseline similarity between the location of the positioning point and the corresponding target location is is 100%; If the location of the positioning point is outside the area where a certain target can be identified on the image, the benchmark similarity is calculated based on the display area OmegaS of the area where the target can be identified in the current image and the shortest distance OmegaD from the location of the positioning point to the area where the target can be identified ; The calculation expression of the benchmark similarity is:

[0057] Optionally, the preset interval distance between the positioning point and the corresponding target is different according to the type of the target. Schematically, the preset interval distance between the building and the target is 20 meters, the vehicle is 10 meters, and the person is 3 meters. Optionally, the benchmark similarity When adjusting, in addition to considering the trajectory point set, we can also further consider parameters such as image magnification and final pitch angle when shooting. Specifically, we obtain the ratio K of the length of the student's mouse trajectory point set to the width of the image. The larger K is, the less skilled the student is. The larger the image magnification ratio is, the more accurate the operation is. The smaller the final pitch angle finalPitch is when the image is shot, the more accurate the image positioning is. The similarity after adjustment The expression is:

[0058] Optional, It can be calculated by finalPitch; like ,but ;like ,but ;like ,but ; The preset similarity can be selected as 80%. , find the target positioning accurately, , positioning failed if the target was not found, the positioning rate find = the number of targets found / the total number of targets, the performance statistics result = inSector'×find, inSector' is the average similarity of all targets found; optional: result ≥ 0.90, excellent, 0.8 ≤ result < 0.9, good, 0.7 ≤ result < 0.8, passing, result < 0.7 is failing.

[0059] S60 provides targeted training to trainees based on the assessment results of their route planning ability and target interpretation ability.

[0060] After the training evaluation is completed, the system displays the results and training details in multiple dimensions through a visual interface to help students accurately identify weak links and strengthen training in a targeted manner. Optionally, for route planning subjects, the system presents the operation time, waypoint position distribution deviation (such as the horizontal offset between the waypoint and the preset observation point), waypoint height compliance (marking abnormal waypoints below the safety threshold) and the comparative analysis of the total route length and the optimal path in the form of dynamic charts; for search and positioning subjects, the focus is on feedback on task time, target identification number, load zoom ratio and pitch angle parameters during shooting, and superimposes the mouse trajectory heat map to analyze the operation accuracy and efficiency. At the same time, the system supports dynamic configuration of assessment indicators according to the student's ability level (such as elementary, intermediate, and advanced): elementary students focus on basic route closure and target discovery rate, intermediate students increase obstacle avoidance and time limit, and advanced students need to deal with complex terrain multi-target collaborative positioning. Through layered training goals and real-time data feedback, the system implements a closed-loop training mechanism of "evaluation-improvement-advanced", which significantly improves the operation skills and actual combat adaptability of students of different levels.

[0061] In summary, the unmanned reconnaissance aircraft simulation training method provided by the present application first receives an unmanned reconnaissance aircraft training task, and the trainee performs route simulation and target positioning according to the unmanned reconnaissance aircraft training task, obtains the simulated route planned by the trainee according to the training task, judges the simulated route, and then judges and evaluates the trainee's route planning ability, obtains the image taken by the trainee according to the training task, and the image contains a number of targets to be positioned, extracts target mapping data from the captured image, and the target mapping data is used to reflect the area where the target is identified on the image, responds to the trainee's target positioning operation on the image, records the positioning point selected during the positioning operation and the trajectory point set moved after the positioning operation, calculates the coordinates of the positioning point selected during the positioning operation on the image, compares and judges the coordinates of the positioning point with the preset target in the unmanned aerial vehicle reconnaissance task, and simulates the trainee's target judgment ability evaluation according to the unmanned reconnaissance aircraft task. The unmanned reconnaissance aircraft simulation training method provided by the present application can simulate and evaluate the trainee's route planning ability and target positioning ability based on the simulation scene, and then can train the trainee in a targeted manner according to the trainee's ability, which greatly increases the targetedness of the trainee's training, reduces the training cost, and has a good training effect; it is suitable for large-scale promotion.

[0062] Embodiment 2 This embodiment provides an unmanned reconnaissance aircraft simulation training system, including: A receiving module, used for receiving unmanned reconnaissance aircraft training tasks; A first evaluation module is used to obtain a simulated route planned by a trainee according to the training task, judge the simulated route, and evaluate the route planning ability of the trainee according to the judgment result of the simulated route; A shooting module is used to obtain images shot by trainees according to the training task, the images contain a number of targets to be located, and extract target mapping data from the shot images, the target mapping data is used to reflect the area where the target is identified on the image; A calculation module, for responding to the trainee's target positioning operation on the image, recording the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation, and calculating the coordinates of the positioning point selected during the positioning operation on the image; A second evaluation module is used to determine the target positioning of the trainee based on the target mapping data, the coordinates of the positioning point and the trajectory point set, and to evaluate the target interpretation ability of the trainee based on the determination result of the target positioning; The training module is used to provide targeted training to trainees based on the assessment results of route planning ability and target interpretation ability.

[0063] Optionally, the step of obtaining a simulated route planned by the trainee according to the training task and judging the simulated route includes: Loading the GIS map, obtaining the waypoints and the height marks of the waypoints drawn by the trainees on the GIS map according to the training task; Connect adjacent waypoints into a straight line to form a closed-loop planned route, and store the completion time of the planned route, waypoint information in the planned route, take-off point, and prepared return landing point in the route planning table of the data storage component; Determine the coordinates of all observation points in the planned route and the coordinates of all obstacles; Completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation are performed in sequence to determine whether the planned simulation route meets the requirements.

[0064] Optionally, the step of sequentially performing completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation to determine whether the planned simulated route meets the requirements includes: Determine whether the completion time is not greater than the preset evaluation time to conduct a completion time evaluation. If not, the evaluation is unqualified. If yes, proceed to the next evaluation step. Determine whether the horizontal distance difference between the take-off point and the prepared return landing point is less than a preset horizontal distance difference, so as to perform a two-point normalization evaluation; if not, the evaluation is unqualified; if so, proceed to the next step of evaluation; Obtain the altitude of all waypoints, and determine whether the altitude of the prepared return landing point is not less than the altitude of other waypoints, so as to perform flight altitude assessment. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Obtain the obstacle height according to the obstacle coordinates, and determine whether the height difference between all waypoints and the obstacle is not less than the preset height difference, so as to evaluate the height of the obstacle avoidance. If not, the evaluation is unqualified. If yes, proceed to the next step of evaluation; According to the coordinates of the observation points, determine whether the distances between all observation points and the route are within the preset distance range to conduct observation point coverage assessment. If not, the assessment is unqualified. If yes, proceed to the next step of assessment; All observation points are connected based on the principle of shortest distance. The total length of all observation points after connection is taken as the optimal path length. The route length is evaluated based on the ratio of the simulated route length and the optimal path length, and finally it is determined whether the planned simulated route meets the requirements.

[0065] Optionally, the obstacle avoidance height assessment further includes: if there is a height difference between a certain waypoint and an obstacle that is less than a preset height difference, then: Get the preset height difference H1, the height of the waypoint H2, the distance from the waypoint to the take-off point L2, and the distance from the obstacle to the take-off point L1, and determine whether H1, H2, L2, and L1 satisfy the following inequality:

[0066] If the above inequality is satisfied, the obstacle avoidance height assessment is qualified, and if the above inequality is not satisfied, the obstacle avoidance height assessment is unqualified.

[0067] Optionally, the step of judging whether the distances between all observation points and the route are within a preset distance range according to the coordinates of the observation points to perform observation point coverage assessment includes: Obtain the distance D1 between two adjacent waypoints in the simulated route, and the distances D2 and D3 from the observation point to the two adjacent waypoints respectively; If the observation point is within the route formed by two adjacent waypoints, the distance H from the observation point to the route is min1 is 0; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form an obtuse triangle or are on the same straight line, then the distance H from the observation point to the route is min1 is the smaller value of D2 and D3; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form a right triangle or an acute triangle, then the distance from the observation point to the route is:

[0068] Determine the distance H from the observation point to the route min1 Whether it is within the preset distance range.

[0069] Optionally, the step of calculating the coordinates of the positioning point selected during the positioning operation on the image includes: Obtain the current position and altitude of the unmanned reconnaissance aircraft when taking the image, the field of view of the camera of the unmanned reconnaissance aircraft, the pitch, roll and heading information of the unmanned reconnaissance aircraft, and the pitch and heading information of the camera; The pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera are uniformly converted and superimposed to obtain the attitude information of the camera relative to the ground; The center point of the image is obtained according to the posture information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and the coordinates of the center point are calculated; Calculate the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft according to the coordinates of the center point and the current position of the unmanned reconnaissance aircraft; Construct an image transformation matrix based on the field of view of the camera of the unmanned reconnaissance aircraft, the size of the image, and the posture information of the camera relative to the ground; Obtain the offset position of the positioning point relative to the center point, and convert the offset position into the distance component between the positioning point and the center point in the directions perpendicular to and coinciding with the line of sight center according to the image transformation matrix; The coordinates of the positioning point on the image are calculated according to the coordinates of the center point and the distance component.

[0070] Optionally, the attitude information conversion expression between the unmanned reconnaissance aircraft and the camera is:

[0071] In the formula, Indicates the attitude information of the unmanned reconnaissance aircraft. Indicates the camera's posture information; The expression of the longitude coordinate of the center point is:

[0072] The expression for the latitude coordinate of the center point is:

[0073] The expression for the horizontal distance is:

[0074] In the formula, are the longitude and latitude coordinates of the center point of the image, d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft, The longitude and latitude coordinates of the current position of the unmanned reconnaissance aircraft, is the altitude of the unmanned reconnaissance aircraft, They are the pitch and heading information of the camera relative to the ground. is the radius of the Earth; The expression of the longitude coordinate of the positioning point on the image is:

[0075] The expression of the latitude coordinate of the positioning point on the image is:

[0076] In the formula, are the longitude and latitude coordinates of the positioning point on the image, is the distance between the positioning point and the center point, The north angle between the positioning point and the center point;

[0077]

[0078] In the formula, They are the distance components between the positioning point and the center point in the directions perpendicular to and coinciding with the center of sight.

[0079] Optionally, the step of judging the target positioning of the trainee according to the target mapping data, the coordinates of the positioning point and the trajectory point set, and evaluating the target interpretation ability of the trainee according to the judgment result of the target positioning includes: Obtain the time it takes for the trainee to complete all target positioning, and determine whether the positioning time is not greater than the preset positioning time. If not, the assessment is unqualified. If yes, proceed to the next step of assessment. Determine the types and locations of all targets, calculate the interval distance between the positioning point and the corresponding target, and determine whether the interval distance is not greater than the preset interval distance. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Calculate the reference similarity between the positioning point position and the corresponding target position, adjust the reference similarity greater than the preset similarity according to the trajectory point set, and determine whether the adjusted similarity is greater than the preset similarity. If so, determine that the positioning is accurate and the target is found, otherwise the positioning fails; The positioning rate is calculated based on the ratio of the number of targets found by the trainees to the number of actual targets, and performance statistics are performed based on the positioning rate and the average similarity. Based on the performance statistics, the trainees' target interpretation ability is evaluated.

[0080] Optionally, the step of calculating a reference similarity between the location of the positioning point and the corresponding target location comprises: If the location of the positioning point is within the area where a target can be identified on the image, the baseline similarity between the location of the positioning point and the corresponding target location is is 100%; If the location of the positioning point is outside the area where a certain target can be identified on the image, the benchmark similarity is calculated based on the display area of ​​the area where the target can be identified in the current image and the shortest distance from the location of the positioning point to the area where the target can be identified; The calculation expression of the benchmark similarity is:

[0081] In the formula, Indicates the display area of ​​the target that can be identified in the current image. Indicates the shortest distance from the location of the positioning point to the area where the target can be identified. Represents the baseline similarity.

[0082] It can be understood that the specific implementation process of the system item in this embodiment is similar to the specific implementation process of the method item in Example 1, and will not be repeated here.

[0083] Embodiment 3 This embodiment provides a storage medium on which a computer program is stored. When the program is executed by a processor, the unmanned reconnaissance aircraft simulation training method as described above is implemented.

[0084] Embodiment 4 The present invention also provides a computer, see Figure 2 , shown is a computer in an embodiment of the present invention, including a memory 10, a processor 20, and a computer program 30 stored in the memory 10 and executable on the processor 20. When the processor 20 executes the computer program 30, the above-mentioned unmanned reconnaissance aircraft simulation training method is implemented.

[0085] The memory 10 includes at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 10 may be an internal storage unit of a computer, such as a hard disk of the computer. In other embodiments, the memory 10 may also be an external storage device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card, etc. Further, the memory 10 may also include both an internal storage unit of the computer and an external storage device. The memory 10 may be used not only to store application software and various types of data installed in the computer, but also to temporarily store data that has been output or is to be output.

[0086] Among them, in some embodiments, the processor 20 can be an electronic control unit (Electronic Control Unit, abbreviated as ECU, also known as a vehicle computer), a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor or other data processing chip, used to run the program code stored in the memory 10 or process data, such as executing access restriction programs, etc.

[0087] It should be pointed out that Figure 2 The structure shown does not constitute a limitation on the computer. In other embodiments, the computer may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0088] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0089] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0090] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0091] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A simulation training method for an unmanned reconnaissance aircraft, characterized in that: include: Receive unmanned reconnaissance aircraft training missions; Obtaining a simulated route planned by the trainee according to the training task, judging the simulated route, and evaluating the route planning ability of the trainee according to the judgment result of the simulated route; Obtaining an image taken by a trainee according to the training task, the image containing a number of targets to be located, and extracting target mapping data from the taken image, the target mapping data being used to reflect the area where the target is identified on the image; In response to the trainee's target positioning operation on the image, the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation are recorded, and the coordinates of the positioning point selected during the positioning operation on the image are calculated; Determining the trainee's target positioning according to the target mapping data, the coordinates of the positioning point, and the trajectory point set, and evaluating the trainee's target interpretation ability according to the target positioning determination result; Targeted training will be provided to trainees based on the assessment results of their route planning ability and target interpretation ability.

2. The unmanned reconnaissance aircraft simulation training method according to claim 1, characterized in that: The step of obtaining the simulated route planned by the trainee according to the training task and judging the simulated route comprises: Loading the GIS map, obtaining the waypoints and the height marks of the waypoints drawn by the trainees on the GIS map according to the training task; Connect adjacent waypoints into a straight line to form a closed-loop planned route, and store the completion time of the planned route, waypoint information in the planned route, take-off point, and prepared return landing point in the route planning table of the data storage component; Determine the coordinates of all observation points in the planned route and the coordinates of all obstacles; Completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation are performed in sequence to determine whether the planned simulation route meets the requirements.

3. The unmanned reconnaissance aircraft simulation training method according to claim 2, characterized in that: The steps of sequentially performing completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation to determine whether the planned simulated route meets the requirements include: Determine whether the completion time is not greater than the preset evaluation time to conduct a completion time evaluation. If not, the evaluation is unqualified. If yes, proceed to the next evaluation step. Determine whether the horizontal distance difference between the take-off point and the prepared return landing point is less than a preset horizontal distance difference, so as to perform a two-point normalization evaluation; if not, the evaluation is unqualified; if so, proceed to the next step of evaluation; Obtain the altitude of all waypoints, and determine whether the altitude of the prepared return landing point is not less than the altitude of other waypoints, so as to perform flight altitude assessment. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Obtain the obstacle height according to the obstacle coordinates, and determine whether the height difference between all waypoints and the obstacle is not less than the preset height difference, so as to evaluate the height of the obstacle avoidance. If not, the evaluation is unqualified. If yes, proceed to the next step of evaluation; According to the coordinates of the observation points, determine whether the distances between all observation points and the route are within the preset distance range to conduct observation point coverage assessment. If not, the assessment is unqualified. If yes, proceed to the next step of assessment; All observation points are connected based on the principle of shortest distance. The total length of all observation points after connection is taken as the optimal path length. The route length is evaluated based on the ratio of the simulated route length and the optimal path length, and finally it is determined whether the planned simulated route meets the requirements.

4. The unmanned reconnaissance aircraft simulation training method according to claim 3 is characterized in that: The obstacle avoidance height assessment further includes: if there is a height difference between a certain waypoint and an obstacle that is less than a preset height difference, then: Get the preset height difference H1, the height of the waypoint H2, the distance from the waypoint to the take-off point L2, and the distance from the obstacle to the take-off point L1, and determine whether H1, H2, L2, and L1 satisfy the following inequality: If the above inequality is satisfied, the obstacle avoidance height assessment is qualified, and if the above inequality is not satisfied, the obstacle avoidance height assessment is unqualified.

5. The unmanned reconnaissance aircraft simulation training method according to claim 3, characterized in that: The step of determining whether the distances between all observation points and the route are within a preset distance range according to the coordinates of the observation points to evaluate the observation point coverage includes: Obtain the distance D1 between two adjacent waypoints in the simulated route, and the distances D2 and D3 from the observation point to the two adjacent waypoints respectively; If the observation point is within the route formed by two adjacent waypoints, the distance H from the observation point to the route is min1 is 0; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form an obtuse triangle or are on the same straight line, then the distance H from the observation point to the route is min1 is the smaller value of D2 and D3; If the observation point is outside the route formed by two adjacent waypoints, and the observation point and the two adjacent waypoints form a right triangle or an acute triangle, then the distance from the observation point to the route is: Determine the distance H from the observation point to the route min1 Whether it is within the preset distance range.

6. The unmanned reconnaissance aircraft simulation training method according to claim 1, characterized in that: The step of calculating the coordinates of the positioning point selected during the positioning operation on the image comprises: Obtain the current position and altitude of the unmanned reconnaissance aircraft when taking the image, the field of view of the camera of the unmanned reconnaissance aircraft, the pitch, roll, and heading information of the unmanned reconnaissance aircraft, and the pitch and heading information of the camera; The pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera are uniformly converted and superimposed to obtain the attitude information of the camera relative to the ground; The center point of the image is obtained according to the posture information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and the coordinates of the center point are calculated; Calculate the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft according to the coordinates of the center point and the current position of the unmanned reconnaissance aircraft; Construct an image transformation matrix based on the field of view of the camera of the unmanned reconnaissance aircraft, the size of the image, and the posture information of the camera relative to the ground; Obtain the offset position of the positioning point relative to the center point, and convert the offset position into the distance component between the positioning point and the center point in the directions perpendicular to and coinciding with the line of sight center according to the image transformation matrix; The coordinates of the positioning point on the image are calculated according to the coordinates of the center point and the distance component.

7. The unmanned reconnaissance aircraft simulation training method according to claim 4, characterized in that: The expression for the attitude information conversion between the unmanned reconnaissance aircraft and the camera is: In the formula, Indicates the attitude information of the unmanned reconnaissance aircraft. Indicates the camera's posture information; The expression of the longitude coordinate of the center point is: The expression for the latitude coordinate of the center point is: The expression for the horizontal distance is: In the formula, are the longitude and latitude coordinates of the center point of the image, d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft, The longitude and latitude coordinates of the current position of the unmanned reconnaissance aircraft, is the altitude of the unmanned reconnaissance aircraft, They are the pitch and heading information of the camera relative to the ground. is the radius of the Earth; The expression of the longitude coordinate of the positioning point on the image is: The expression of the latitude coordinate of the positioning point on the image is: In the formula, are the longitude and latitude coordinates of the positioning point on the image, is the distance between the positioning point and the center point, The north angle between the positioning point and the center point; In the formula, They are the distance components between the positioning point and the center point in the directions perpendicular to and coinciding with the center of sight.

8. The unmanned reconnaissance aircraft simulation training method according to claim 7, characterized in that: The step of judging the target positioning of the trainee according to the target mapping data, the coordinates of the positioning point and the trajectory point set, and evaluating the target interpretation ability of the trainee according to the judgment result of the target positioning comprises: Obtain the time it takes for the trainee to complete all target positioning, and determine whether the positioning time is not greater than the preset positioning time. If not, the assessment is unqualified. If yes, proceed to the next step of assessment. Determine the types and locations of all targets, calculate the interval distance between the positioning point and the corresponding target, and determine whether the interval distance is not greater than the preset interval distance. If not, the assessment is unqualified. If so, proceed to the next step of assessment; Calculate the reference similarity between the positioning point position and the corresponding target position, adjust the reference similarity greater than the preset similarity according to the trajectory point set, and determine whether the adjusted similarity is greater than the preset similarity. If so, determine that the positioning is accurate and the target is found, otherwise the positioning fails; The positioning rate is calculated based on the ratio of the number of targets found by the trainees to the number of actual targets, and performance statistics are performed based on the positioning rate and the average similarity. The trainees' target interpretation ability is evaluated based on the performance statistics.

9. The unmanned reconnaissance aircraft simulation training method according to claim 8, characterized in that: The step of calculating the benchmark similarity between the positioning point position and the corresponding target position comprises: If the location of the positioning point is within the area where a target can be identified on the image, the baseline similarity between the location of the positioning point and the corresponding target location is is 100%; If the location of the positioning point is outside the area where a certain target can be identified on the image, the benchmark similarity is calculated based on the display area of ​​the area where the target can be identified in the current image and the shortest distance from the location of the positioning point to the area where the target can be identified; The calculation expression of the benchmark similarity is: In the formula, Indicates the display area of ​​the target that can be identified in the current image. Indicates the shortest distance from the location of the positioning point to the area where the target can be identified. Represents the baseline similarity.

10. An unmanned reconnaissance aircraft simulation training system, characterized in that: include: A receiving module, used for receiving unmanned reconnaissance aircraft training tasks; A first evaluation module is used to obtain a simulated route planned by a trainee according to the training task, judge the simulated route, and evaluate the route planning ability of the trainee according to the judgment result of the simulated route; A shooting module is used to obtain images shot by trainees according to the training task, the images contain a number of targets to be located, and extract target mapping data from the shot images, the target mapping data is used to reflect the area where the target is identified on the image; A calculation module, for responding to the trainee's target positioning operation on the image, recording the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation, and calculating the coordinates of the positioning point selected during the positioning operation on the image; A second evaluation module is used to determine the target positioning of the trainee based on the target mapping data, the coordinates of the positioning point and the trajectory point set, and to evaluate the target interpretation ability of the trainee based on the determination result of the target positioning; The training module is used to provide targeted training to trainees based on the assessment results of route planning ability and target interpretation ability.

Images