Unmanned Reconnaissance Aircraft Simulation Training Method and System

Abstract

The present invention provides a method and system for simulating the training of unmanned reconnaissance aircraft. The simulation evaluation method includes: receiving the training task of the unmanned reconnaissance aircraft; obtaining the simulated flight path planned by the trainee according to the training task, and evaluating the trainee's flight path planning ability according to the judgment result of the simulated flight path; obtaining the images taken by the trainee according to the training task; in response to the target positioning operation of the trainee on the image, recording the positioning points selected during the positioning operation and the set of trajectory points moved after the positioning operation, and calculating the coordinates of the positioning points selected during the positioning operation on the image; judging the trainee's target positioning according to the target mapping data, the coordinates of the positioning points and the set of trajectory points, evaluating the trainee's target interpretation ability according to the judgment result of the target positioning, and conducting targeted training for the trainee according to the evaluation result. The method for simulating the training of unmanned reconnaissance aircraft provided by the present invention has strong pertinence and low cost.

Description

Technical Field

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

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

[0003] When an unmanned reconnaissance aircraft is put into use, it is necessary to evaluate the operation ability of the operator of the unmanned reconnaissance aircraft, and find out the deficiencies of the trainees according to the evaluation results for targeted training. Currently, the training for the operator of the unmanned reconnaissance aircraft mainly includes real operation training and simulation training. The real operation training is mainly navigation training. In the actual operation process, it is very difficult to quickly and accurately judge whether the route planning is correct or wrong. The wrong route planning will increase the risk of crashing; at the same time, when training for flying reconnaissance targets, it is necessary to apply for airspace in advance and prepare various targets, and the material and human costs of the training are high; the simulation training mainly focuses on the training of the operator's 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 a simulation training method and system for unmanned reconnaissance aircraft to solve the technical problems existing in the prior art.

[0005] The present invention proposes a simulation training method for unmanned reconnaissance aircraft, including:

[0006] Receiving an unmanned reconnaissance aircraft training task;

[0007] Obtaining the 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;

[0008] Obtaining the image taken by the trainee according to the training task, where the image contains several targets to be located, extracting target mapping data from the taken image, and the target mapping data is used to reflect the area where the target is recognized on the image;

[0009] In response to the target positioning operation of the trainee 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;

[0010] Judging the target positioning of the trainee according to the target mapping data, the coordinates of the positioning point, and the set of trajectory points, and evaluating the target interpretation ability of the trainee according to the judgment result of the target positioning;

[0011] Targeted training is provided to the trainees based on the evaluation results of the route planning ability and the target interpretation ability.

[0012] Optionally, the step of obtaining the simulated route planned by the trainee according to the training task and judging the simulated route includes:

[0013] Load the GIS map, and obtain the waypoints plotted by the trainee on the GIS map according to the training task and the altitude identification of the waypoints;

[0014] Connect adjacent waypoints into a closed-loop planned route, and store the completion time of the planned route, the waypoint information in the planned route, the takeoff point, and the reserve return landing point into the route planning table of the data storage component;

[0015] Determine the coordinates of all observation points and the coordinates of all obstacles in the planned route;

[0016] Perform completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation in sequence to determine whether the planned simulated route meets the requirements.

[0017] Optionally, the step of performing completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation in sequence to determine whether the planned simulated route meets the requirements includes:

[0018] Judge whether the completion time is not greater than the preset evaluation time for completion time evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0019] Judge whether the horizontal distance difference between the takeoff point and the reserve return landing point is less than the preset horizontal distance difference for two-point normalization evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0020] Obtain the altitudes of all waypoints, and judge whether the altitude of the reserve return landing point is not less than the altitudes of other waypoints for flight altitude evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0021] Obtain the obstacle altitude according to the obstacle coordinates, and judge whether the altitude difference between all waypoints and the obstacles is not less than the preset altitude difference for obstacle avoidance altitude evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0022] Judge whether the distances between all observation points and the route are within the preset distance range according to the coordinates of the observation points for observation point coverage evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0023] Connect all the observation points based on the principle of the shortest distance. The total length after connecting all the observation points is used as the optimal path length. The length of the simulated flight path is evaluated according to the ratio of the simulated flight path length to the optimal path length, and finally it is determined whether the planned simulated flight path meets the requirements.

[0024] Optionally, the obstacle avoidance height evaluation further includes: if the height difference between a certain flight point and the obstacle is less than the preset height difference, then:

[0025] Obtain the preset height difference H1, the height H2 of this flight point, the distance L2 from this flight point to the take-off point, and the distance L1 from the obstacle to the take-off point, and judge whether H1, H2, L2, and L1 satisfy the following inequality:

[0026]

[0027] If the above inequality is satisfied, the obstacle avoidance height evaluation is qualified; if the above inequality is not satisfied, the obstacle avoidance height evaluation is unqualified.

[0028] Optionally, the step of judging whether the distances between all observation points and the flight path are within the preset distance range according to the coordinates of the observation points to perform the observation point coverage evaluation includes:

[0029] Obtain the distance D1 between two adjacent flight points in the simulated flight path, and the distances D2 and D3 from the observation point to these two adjacent flight points respectively;

[0030] If the observation point is within the flight path formed by two adjacent flight points, the distance H from this observation point to the flight path min1 is 0;

[0031] If the observation point is outside the flight path formed by two adjacent flight points, and this observation point forms an obtuse triangle or is on the same straight line with these two adjacent flight points, the distance H from this observation point to the flight path min1 is the smaller value of D2 and D3;

[0032] If the observation point is outside the flight path formed by two adjacent flight points, and this observation point forms a right triangle or an acute triangle with these two adjacent flight points, the distance from this observation point to the flight path is:

[0033]

[0034] Judge whether the distance H from the observation point to the flight path min1 is within the preset distance range.

[0035] Optionally, the step of calculating the coordinates of the positioning point selected during the positioning operation on the image includes:

[0036] Obtain the current position of the unmanned reconnaissance aircraft, the altitude at which it is located, the field of view angle of the camera of the unmanned reconnaissance aircraft, the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft, and the pitch and heading attitude information of the camera;

[0037] Unify and transform the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera, and then superimpose them to obtain the attitude information of the camera relative to the ground;

[0038] Obtain the center point of the image based on the attitude information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and calculate the coordinates of the center point;

[0039] Calculate the horizontal distance 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;

[0040] Construct an image transformation matrix based on the field of view angle of the camera of the unmanned reconnaissance aircraft, the size of the image, and the attitude information of the camera relative to the ground;

[0041] Obtain the offset position of the positioning point relative to the center point, and convert the offset position into the distance components of the positioning point and the center point in two directions perpendicular and coincident with the line of sight center according to the image transformation matrix;

[0042] Calculate the coordinates of the positioning point on the image based on the coordinates of the center point and the distance components.

[0043] Optionally, the attitude information conversion expression of the unmanned reconnaissance aircraft and the camera is:

[0044]

[0045] In the formula, represents the attitude information of the unmanned reconnaissance aircraft, represents the attitude information of the camera;

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

[0047]

[0048] The expression for the latitude coordinate of the center point is:

[0049]

[0050] The expression for the horizontal distance is:

[0051]

[0052] In the formula, are respectively the longitude coordinate and latitude coordinate 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 coordinate and latitude coordinate of the current position of the unmanned reconnaissance aircraft respectively, is the altitude of the unmanned reconnaissance aircraft, are respectively the pitch and orientation attitude information of the camera relative to the ground, is the radius of the earth;

[0053] The expression for the longitude coordinate of the positioning point on the image is:

[0054]

[0055] The expression for the latitude coordinate of the positioning point on the image is:

[0056]

[0057] In the formula, are respectively the longitude coordinate and latitude coordinate of the positioning point on the image, is the distance between the positioning point and the center point, the northward angle between the positioning point and the center point;

[0058]

[0059]

[0060] In the formula, are respectively the distance components of the positioning point and the center point in the two directions perpendicular and coincident with the line of sight center.

[0061] 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:

[0062] Obtain the positioning time for the trainee to complete all target positionings, judge whether the positioning time is not greater than the preset positioning time. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0063] Determine the types and positions of all targets, calculate the interval distance between the positioning point and the corresponding target, judge whether the interval distance is not greater than the preset interval distance. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0064] 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 judge whether the adjusted similarity is greater than the preset similarity. If so, judge that the positioning is accurate and the target is found. Otherwise, the positioning fails;

[0065] Calculate the positioning rate according to the ratio of the number of target positions found by the trainee to the actual number of targets, perform score statistics based on the positioning rate and the average similarity, and evaluate the target judgment ability of the trainee according to the score statistics.

[0066] Optionally, the step of calculating the reference similarity between the calculated positioning point position and the corresponding target position includes:

[0067] If the positioning point position is within the recognizable area of a certain target on the image, the reference similarity between the positioning point position and the corresponding target position is 100%;

[0068] If the positioning point position is outside the recognizable area of a certain target on the image, calculate the reference similarity according to the display area of the recognizable area of the target in the current image and the shortest distance from the positioning point position to the recognizable area of the target;

[0069] The calculation expression of the reference similarity is:

[0070]

[0071] In the formula, represents the display area of the recognizable area of the target in the current image, represents the shortest distance from the positioning point position to the recognizable area of the target, represents the reference similarity.

[0072] The present invention also provides an unmanned reconnaissance aircraft simulation training system, including;

[0073] A receiving module for receiving unmanned reconnaissance aircraft training tasks;

[0074] A first evaluation module for obtaining the simulated flight path planned by the trainee according to the training task, judging the simulated flight path, and evaluating the flight path planning ability of the trainee according to the judgment result of the simulated flight path;

[0075] A shooting module for obtaining the image taken by the trainee according to the training task, where the image contains several targets to be positioned, and extracting target mapping data from the taken image, and the target mapping data is used to reflect the recognizable area of the target on the image;

[0076] A calculation module for recording the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation in response to the trainee's target positioning operation on the image, and calculating the coordinates of the positioning point selected during the positioning operation on the image;

[0077] A second evaluation module, configured to judge the target positioning of a trainee according to the target mapping data, the coordinates of the positioning point, and the set of trajectory points, and evaluate the target interpretation ability of the trainee according to the judgment result of the target positioning;

[0078] A training module, configured to conduct targeted training on the trainee according to the evaluation result of the route planning ability and the evaluation result of the target interpretation ability.

[0079] The beneficial effects of the present invention compared with the prior art are as follows: The unmanned reconnaissance aircraft simulation training method provided by this application first receives an unmanned reconnaissance aircraft training task. The trainee conducts 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. Obtain the images taken by the trainee according to the training task. The images contain several targets to be positioned. Extract the target mapping data from the taken images. The target mapping data is used to reflect the area where the target is recognized on the image. In response to the trainee's target positioning operation on the image, record the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation, calculate the coordinates of the positioning point selected during the positioning operation on the image, and compare and judge according to the coordinates of the positioning point and the preset target in the unmanned reconnaissance mission of the drone, simulate the evaluation of the trainee's target judgment ability according to the unmanned reconnaissance aircraft task. The unmanned reconnaissance aircraft simulation training method provided by this application can simulate and evaluate the trainee's route planning ability and target positioning ability based on a simulation scenario, and then can conduct targeted training on the trainee according to the trainee's ability, greatly increasing the pertinence of the trainee's training, reducing the training cost, and having good training effects; it is suitable for large-scale promotion.

[0080] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0081] Figure 1 It is a flowchart of the unmanned reconnaissance aircraft simulation training method in Embodiment 1 of the present invention;

[0082] Figure 2 It is a structural block diagram of a computer in Embodiment 4 of the present invention.

[0083] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific Embodiments

[0084] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown 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, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0085] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein 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.

[0086] Embodiment 1

[0087] Please refer to Figure 1 , which shows the unmanned reconnaissance aircraft simulation training method in the first embodiment of the present invention, used to evaluate the route planning ability and target interpretation ability of trainees, specifically including steps S10 to S60:

[0088] S10, receive the unmanned reconnaissance aircraft training task;

[0089] In specific implementation, a target search task can be set by the backend and sent to the trainees. The trainees plan the flight path of the unmanned reconnaissance aircraft according to the target search task to search for the target. This embodiment is used to evaluate the route planning ability and target interpretation ability of trainees. First, set the training task through the task management component. Among them, 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 parameters such as the number of observation points, the name and location of the observation points, the location and action distance of the interference points, and the completion time. The content of the search and positioning subject includes parameters such as the number of targets, the type, the location of the targets, the scene type, and the completion time. Store the content of the training subject in the job task table JobTaskTable of the data storage component for subsequent selection of training subjects and start of training according to the job requirements.

[0090] S20, obtain the simulated route planned by the trainee according to the training task, judge the simulated route, and evaluate the trainee's route planning ability according to the judgment result of the simulated route;

[0091] Optionally, the step of obtaining the simulated route planned by the trainee according to the training task and judging the simulated route includes:

[0092] Load the GIS map, and obtain the waypoints plotted by the trainee on the GIS map according to the training task and the altitude identification of the waypoints;

[0093] Connect adjacent waypoints into a straight line to form a closed-loop planned route, and store the completion time of the planned route, the waypoint information in the planned route, the takeoff point, and the preparatory return landing point into the route planning table of the data storage component;

[0094] Determine the coordinates of all observation points and the coordinates of all obstacles in the planned route;

[0095] Perform completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation in sequence to determine whether the planned simulated route meets the requirements.

[0096] In specific implementation, after the trainee logs in to the system, select 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 plot waypoints on the GIS map according to the place names and restriction conditions prompted by the unmanned reconnaissance aircraft training task, and the plotted waypoints are added with altitude identifiers through digital circles; the system real-time displays the straight flight tracks between adjacent waypoints and dynamically adjusts the closed-loop path; the steps of connecting waypoints can be: connect adjacent waypoints into a straight line to form a track, when a new waypoint is added, the system automatically disconnects the connection between the second-newest waypoint and the starting point and connects it to the newest waypoint. At least 4 waypoints are required for route planning, so the tracks formed by connecting waypoints are all closed loops. After the plotting is completed, the trainee submits the route; after the waypoint plotting is completed, store information such as the completion time, waypoint information, takeoff point, and preparatory return landing point into the route planning table RoutePlaningTable of the data storage component, and perform evaluation processing on the route planning.

[0097] The steps of performing the completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and route length evaluation in sequence to determine whether the planned simulated route meets the requirements include:

[0098] Judge whether the completion time is not greater than the preset evaluation time to perform the completion time evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0099] Judge whether the horizontal distance difference between the takeoff point and the preparatory return landing point is less than the preset horizontal distance difference to perform the two-point normalization evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0100] Obtain the altitudes of all waypoints, and judge whether the altitude of the preparatory return landing point is not less than the altitudes of other waypoints to perform the flight altitude evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0101] Obtain the height of the obstacle based on the obstacle coordinates, and determine whether the height difference between all waypoints and the obstacle is not less than the preset height difference to evaluate avoiding the obstacle height. If not, the evaluation fails. If so, proceed to the next evaluation;

[0102] Judge whether the distance between all observation points and the flight path is within the preset distance range according to the coordinates of the observation points to evaluate the coverage of the observation points. If not, the evaluation fails. If so, proceed to the next evaluation;

[0103] Connect all the observation points based on the principle of the shortest distance. The total length after connecting all the observation points is used as the optimal path length. Evaluate the flight path length according to the ratio of the simulated flight path length and the optimal path length, and finally determine whether the planned simulated flight path meets the requirements.

[0104] The evaluation of avoiding the obstacle height further includes: If the height difference between a certain waypoint and the obstacle is less than the preset height difference, then:

[0105] Obtain the preset height difference H1, the height H2 of this waypoint, the distance L2 from this waypoint to the take-off point, and the distance L1 from the obstacle to the take-off point, and judge whether H1, H2, L2, and L1 satisfy the following inequality:

[0106]

[0107] If the above inequality is satisfied, the evaluation of avoiding the obstacle height is qualified. If the above inequality is not satisfied, the evaluation of avoiding the obstacle height is unqualified.

[0108] The step of judging whether the distance between all observation points and the flight path is within the preset distance range according to the coordinates of the observation points to evaluate the coverage of the observation points includes:

[0109] Obtain the distance D1 between two adjacent waypoints in the simulated flight path, and the distances D2 and D3 from the observation point to these two adjacent waypoints respectively;

[0110] If the observation point is within the flight path formed by two adjacent waypoints, the distance H from this observation point to the flight path min1 is 0;

[0111] If the observation point is outside the flight path formed by two adjacent waypoints, and this observation point forms an obtuse triangle or is on the same straight line with these two adjacent waypoints, the distance H from this observation point to the flight path min1 is the smaller value of D2 and D3;

[0112] If the observation point is outside the flight path formed by two adjacent waypoints, and this observation point forms a right triangle or an acute triangle with these two adjacent waypoints, the distance from this observation point to the flight path is:

[0113]

[0114] Determine the distance H from the observation point to the flight path min1 Whether it is within the preset distance range

[0115] Optionally, the preset horizontal distance difference can be 50 meters; the preset distance range between the observation point and the flight path can be ±100 meters; if Hmin1 ≤ 100 meters, it means that the flight path planning can find 1 observation point. Calculate the situations of all flight paths and observation points in sequence. If all are found, proceed to the next step; otherwise, jump out of the evaluation and judge it as failing. The proportionality factor between the simulated flight path length and the optimal path length can be denoted as Ss. If Ss ≤ 1.1, the final grade is excellent; if 1.1 < Ss ≤ 1.2, the final grade is good; if 1.2 < Ss ≤ 1.3, the final grade is passing; if Ss > 1.3, the final grade is failing.

[0116] S30. Obtain the image taken by the trainee according to the training task. The image contains several targets to be located. Extract the target mapping data from the taken image. The target mapping data is used to reflect the area where the target is recognized on the image.

[0117] Optionally, when specifically conducting the target search and positioning training subject, the trainee enters "Search and Positioning Training". First, the three-dimensional scene simulation component generates a three-dimensional software model of an unmanned reconnaissance aircraft, a three-dimensional software model of the target, and a three-dimensional terrain environment (such as mountain, urban, or desert terrain) according to the operation requirements, and randomly distributes the targets (such as vehicle, building, 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 view interface. The system provides a "Target Search Assistance Mode": if the trainee does not find the target for a long time, the interface will gradually display a 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 take a photo, and store the image information of the search and photo-taking into the Image Information Table PictureInfoTable; the Image Processing Simulation Component loads the image from PictureInfoTable and conducts the simulation of the target positioning function; the trainee needs to circle the target area on the image through the mouse trajectory and double-click to confirm the positioning. After completing all target positionings, perform the evaluation processing of the search and positioning; the positioning simulation first needs to extract the mapping data of the target, which is a set of points or an array of points, indicating the area Ω on the image image where one or more targets captured in the image image can be identified.

[0118] S40. In response to the trainee's target positioning operation on the image, record the positioning point selected during the positioning operation and the set of trajectory points moved after the positioning operation, and calculate the coordinates of the positioning point selected during the positioning operation on the image.

[0119] Optionally, starting from when the trainee clicks the positioning button, record the positioning points selected during the trainee's positioning operation and the set of trajectory points of the mouse, and calculate the coordinates of the positioning points selected during the positioning operation on the image.

[0120] Optionally, the step of calculating the coordinates of the positioning points selected during the positioning operation on the image includes:

[0121] Obtain the current position lon, lat of the unmanned reconnaissance aircraft when taking the image, the altitude h, the field of view angle fov of the camera of the unmanned reconnaissance aircraft, the pitch dronePitch, roll droneroll, and heading droneYaw attitude information of the unmanned reconnaissance aircraft, and the pitch payloadPitch and heading payloadYaw attitude information of the camera.

[0122] Unify and transform the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera and then superimpose them to obtain the attitude information of the camera relative to the ground, including finalPitch, finalRoll, and finalYaw.

[0123] Obtain the center point of the image based on the attitude information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and calculate the coordinates (lon0, lat0) of the center point point0.

[0124] 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.

[0125] Construct an image transformation matrix based on the field of view angle of the camera of the unmanned reconnaissance aircraft, the size of the image, and the attitude information of the camera relative to the ground.

[0126] Obtain 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') of the positioning point and the center point in the two directions perpendicular and coincident with the line of sight center according to the image transformation matrix.

[0127] Calculate the coordinates of the positioning point on the image based on the coordinates of the center point and the distance components.

[0128] The attitude information conversion expression between the unmanned reconnaissance aircraft and the camera is:

[0129]

[0130] In the formula, represents the attitude information of the unmanned reconnaissance aircraft, represents the attitude information of the camera;

[0131] The expression for the longitude coordinate of the center point is:

[0132]

[0133] The expression for the latitude coordinate of the center point is:

[0134]

[0135] The expression for the horizontal distance is:

[0136] Wherein, are respectively the longitude coordinate and latitude coordinate of the center point of the image, d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft, are respectively the longitude coordinate and latitude coordinate of the current position of the unmanned reconnaissance aircraft, is the altitude of the unmanned reconnaissance aircraft, are respectively the pitch and orientation attitude information of the camera relative to the ground, is the radius of the earth;

[0137] The expression for the longitude coordinate of the positioning point on the image is:

[0138]

[0139] The expression for the latitude coordinate of the positioning point on the image is:

[0140]

[0141] Wherein, are respectively the longitude coordinate and latitude coordinate of the positioning point on the image, is the distance between the positioning point and the center point, is the northward angle between the positioning point and the center point;

[0142]

[0143]

[0144] Wherein, are respectively the distance components of the positioning point and the center point in two directions perpendicular and coincident with the line of sight center.

[0145] Optionally, a ray is emitted from the current position lon, lat of the unmanned reconnaissance aircraft in the direction of the pitch angle finalPitch and the orientation finalYaw, and the intersection point 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; store data such as target mapping data and trajectory point sets into the target list table TargetListTable.

[0146] S50. Determine the target positioning of the trainee based on the target mapping data, the coordinates of the positioning points, and the set of trajectory points, and evaluate the target interpretation ability of the trainee according to the judgment result of the target positioning.

[0147] The steps of determining the target positioning of the trainee based on the target mapping data, the coordinates of the positioning points, and the set of trajectory points, and evaluating the target interpretation ability of the trainee according to the judgment result of the target positioning include:

[0148] Obtain the positioning time for the trainee to complete all target positionings, and determine whether the positioning time is not greater than the preset positioning time. If not, the evaluation is unqualified; if so, proceed to the next evaluation;

[0149] Determine the types and positions 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 evaluation is unqualified; if so, proceed to the next evaluation;

[0150] Calculate the baseline similarity between the positioning point position and the corresponding target position, adjust the baseline similarity greater than the preset similarity according to the set of trajectory points, 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;

[0151] Calculate the positioning rate according to the ratio of the number of targets found by the trainee to the number of actual targets, perform score statistics based on the positioning rate and the average similarity, and evaluate the target interpretation ability of the trainee according to the score statistics.

[0152] The steps of calculating the baseline similarity between the positioning point position and the corresponding target position include:

[0153] If the positioning point position is within the area where a certain target can be recognized in the image, the baseline similarity between the positioning point position and the corresponding target position is 100%;

[0154] If the positioning point position is outside the area where a certain target can be recognized in the image, calculate the baseline similarity according to the display area OmegaS of the area where the target can be recognized in the current image and the shortest distance OmegaD from the positioning point position to the area where the target can be recognized ;

[0155] The calculation expression of the baseline similarity is:

[0156]

[0157] Optionally, depending on the type of the target, the preset interval distance between the positioning point and the corresponding target is also different. Schematically, it can be 20 meters for a building, 10 meters for a vehicle, and 3 meters for a person. Optionally, the reference similarity When adjusting, in addition to considering the trajectory point set, parameters such as the image magnification and the final pitch angle during shooting can also be further considered. Specifically, obtain the ratio K of the length of the trajectory point set of the trainee's mouse operation to the width of the image. The larger K is, the less proficient the trainee is considered to be; the larger the image magnification ratio ratio is, the more accurate the operation is considered to be, and the smaller the final pitch angle finalPitch of the image during shooting is, the more accurate the image positioning is. The adjusted similarity The expression of is:

[0158]

[0159] Optionally, it can be calculated through finalPitch;

[0160] If , then ; If , then ; If , then ;

[0161] The preset similarity can be selected as 80%, , the target is accurately located, , the target is not found and the positioning fails. The positioning rate find = the number of found targets / the total number of targets. The result of the performance statistics result = inSector’ × find, where inSector’ is the average value of the similarities corresponding to all found targets. Optionally: result ≥ 0.90 is excellent, 0.8 ≤ result < 0.9 is good, 0.7 ≤ result < 0.8 is passing, and result < 0.7 is failing.

[0162] S60 conducts targeted training on the trainee according to the evaluation results of the route planning ability and the target interpretation ability.

[0163] 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.

[0164] 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.

[0165] Embodiment 2

[0166] This embodiment provides an unmanned reconnaissance aircraft simulation training system, including:

[0167] A receiving module, used for receiving unmanned reconnaissance aircraft training tasks;

[0168] The first evaluation module is used to obtain the simulated flight route planned by the trainee according to the training task, judge the simulated flight route, and evaluate the trainee's flight route planning ability according to the judgment result of the simulated flight route;

[0169] The shooting module is used to obtain the images taken by the trainee according to the training task. The images contain several targets to be located, and extract target mapping data from the taken images. The target mapping data is used to reflect the area where the target is recognized on the image;

[0170] The calculation module is used to respond to the target positioning operation of the trainee on the image, record the positioning points selected during the positioning operation and the set of trajectory points moved after the positioning operation, and calculate the coordinates of the positioning points selected during the positioning operation on the image;

[0171] The second evaluation module is used to judge the trainee's target positioning according to the target mapping data, the coordinates of the positioning points, and the set of trajectory points, and evaluate the trainee's target interpretation ability according to the judgment result of the target positioning;

[0172] The training module is used to conduct targeted training on the trainee according to the evaluation results of the flight route planning ability and the target interpretation ability.

[0173] Optionally, the steps of obtaining the simulated flight route planned by the trainee according to the training task and judging the simulated flight route include:

[0174] Load the GIS map, and obtain the waypoints plotted by the trainee on the GIS map according to the training task and the altitude identification of the waypoints;

[0175] Connect adjacent waypoints into a closed-loop planned flight route, and store the completion time of the planned flight route, the waypoint information in the planned flight route, the takeoff point, and the reserve return landing point into the flight route planning table of the data storage component;

[0176] Determine the coordinates of all observation points and the coordinates of all obstacles in the planned flight route;

[0177] Perform completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and flight route length evaluation in sequence to judge whether the planned simulated flight route meets the requirements.

[0178] Optionally, the steps of performing completion time evaluation, two-point normalization evaluation, flight altitude evaluation, obstacle avoidance altitude evaluation, observation point coverage evaluation, and flight route length evaluation in sequence to judge whether the planned simulated flight route meets the requirements include:

[0179] Judge whether the completion time is not greater than the preset evaluation time to perform the completion time evaluation. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0180] Determine whether the horizontal distance difference between the take-off point and the preliminary return landing point is less than a preset horizontal distance difference for two-point normalization evaluation. If not, the evaluation fails. If so, proceed to the next evaluation;

[0181] Obtain the heights of all waypoints, and determine whether the height of the preliminary return landing point is not less than the heights of other waypoints for flight height evaluation. If not, the evaluation fails. If so, proceed to the next evaluation;

[0182] 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 a preset height difference for obstacle avoidance height evaluation. If not, the evaluation fails. If so, proceed to the next evaluation;

[0183] Judge whether the distances between all observation points and the flight path are within a preset distance range according to the coordinates of the observation points for observation point coverage evaluation. If not, the evaluation fails. If so, proceed to the next evaluation;

[0184] Connect all observation points based on the principle of the shortest distance, and take the total length after connecting all observation points as the optimal path length. Evaluate the flight path length according to the ratio of the simulated flight path length to the optimal path length, and finally determine whether the planned simulated flight path meets the requirements.

[0185] Optionally, the obstacle avoidance height evaluation further includes: if there is a height difference between a certain waypoint and the obstacle that is less than the preset height difference, then:

[0186] Obtain the preset height difference H1, the height H2 of this waypoint, the distance L2 from this waypoint to the take-off point, and the distance L1 from the obstacle to the take-off point, and judge whether H1, H2, L2, and L1 satisfy the following inequality:

[0187]

[0188] If the above inequality is satisfied, the obstacle avoidance height evaluation is qualified. If the above inequality is not satisfied, the obstacle avoidance height evaluation is unqualified.

[0189] Optionally, the step of judging whether the distances between all observation points and the flight path are within a preset distance range according to the coordinates of the observation points for observation point coverage evaluation includes:

[0190] Obtain the distance D1 between two adjacent waypoints in the simulated flight path, and the distances D2 and D3 from the observation point to these two adjacent waypoints respectively;

[0191] If the observation point is within the flight path formed by two adjacent waypoints, the distance H from this observation point to the flight path min1 is 0;

[0192] If the observation point is outside the flight path formed by two adjacent waypoints, and the observation point forms an obtuse triangle or lies on the same straight line with the two adjacent waypoints, then the distance H from the observation point to the flight path min1 is the smaller value of D2 and D3;

[0193] If the observation point is outside the flight path formed by two adjacent waypoints, and the observation point forms a right triangle or an acute triangle with the two adjacent waypoints, then the distance from the observation point to the flight path is:

[0194]

[0195] Judge whether the distance H from the observation point to the flight path min1 is within the preset distance range.

[0196] Optionally, the steps of calculating the coordinates of the positioning point selected during the positioning operation on the image include:

[0197] Obtain the current position, the altitude at which the unmanned reconnaissance aircraft is located, the field of view angle of the camera of the unmanned reconnaissance aircraft, the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft, and the pitch and heading attitude information of the camera;

[0198] Unify and transform the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera and then superimpose them to obtain the attitude information of the camera relative to the ground;

[0199] Obtain the center point of the image based on the attitude information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and calculate the coordinates of the center point;

[0200] Calculate the horizontal distance 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;

[0201] Construct an image transformation matrix based on the field of view angle of the camera of the unmanned reconnaissance aircraft, the size of the image, and the attitude information of the camera relative to the ground;

[0202] Obtain the offset position of the positioning point relative to the center point, and convert the offset position into the distance components of the positioning point and the center point in two directions perpendicular and coincident with the line of sight center according to the image transformation matrix;

[0203] Calculate the coordinates of the positioning point on the image based on the coordinates of the center point and the distance components.

[0204] Optionally, the attitude information conversion expression of the unmanned reconnaissance aircraft and the camera is:

[0205]

[0206] In the formula, Indicates the attitude information of the unmanned reconnaissance aircraft, Indicates the attitude information of the camera;

[0207] The expression for the longitude coordinate of the center point is:

[0208]

[0209] The expression for the latitude coordinate of the center point is:

[0210]

[0211] The expression for the horizontal distance is:

[0212]

[0213] In the formula, are respectively the longitude coordinate and latitude coordinate of the center point of the image, d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft, are respectively the longitude coordinate and latitude coordinate of the current position of the unmanned reconnaissance aircraft, is the altitude of the unmanned reconnaissance aircraft, are respectively the pitch and orientation attitude information of the camera relative to the ground, is the radius of the earth;

[0214] The expression for the longitude coordinate of the positioning point on the image is:

[0215]

[0216] The expression for the latitude coordinate of the positioning point on the image is:

[0217]

[0218] In the formula, are respectively the longitude coordinate and latitude coordinate of the positioning point on the image, is the distance between the positioning point and the center point, the northward angle between the positioning point and the center point;

[0219]

[0220]

[0221] In the formula, are respectively the distance components of the positioning point and the center point in the two directions perpendicular and coincident with the line of sight center.

[0222] 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 set of trajectory points, and evaluating the target interpretation ability of the trainee according to the judgment result of the target positioning includes:

[0223] Obtain the positioning time for the trainee to complete all target positionings, and determine whether the positioning time is not greater than a preset positioning time. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0224] Determine the types and positions 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 a preset interval distance. If not, the evaluation is unqualified. If so, proceed to the next evaluation;

[0225] Calculate the baseline similarity between the positioning point position and the corresponding target position, adjust the baseline 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;

[0226] Calculate the positioning rate according to the ratio of the number of targets found by the trainee to the number of actual targets, perform score statistics based on the positioning rate and the average similarity, and evaluate the target interpretation ability of the trainee according to the score statistics.

[0227] Optionally, the step of calculating the baseline similarity between the positioning point position and the corresponding target position includes:

[0228] If the positioning point position is within the area where a certain target can be recognized in the image, the baseline similarity between the positioning point position and the corresponding target position is 100%;

[0229] If the positioning point position is outside the area where a certain target can be recognized in the image, calculate the baseline similarity according to the display area of the area where the target can be recognized in the current image and the shortest distance from the positioning point position to the area where the target can be recognized;

[0230] The calculation expression of the baseline similarity is:

[0231]

[0232] In the formula, represents the display area of the area where the target can be recognized in the current image, represents the shortest distance from the positioning point position to the area where the target can be recognized, represents the baseline similarity.

[0233] 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 Embodiment 1, and will not be elaborated here.

[0234] Embodiment 3

[0235] This embodiment provides a storage medium with a computer program stored thereon. When the program is executed by a processor, it implements the unmanned reconnaissance aircraft simulation training method as described above.

[0236] Embodiment 4

[0237] The present invention also provides a computer. Please refer to Figure 2 , which shows the computer in an embodiment of the present invention, including a memory 10, a processor 20, and a computer program 30 stored on the memory 10 and operable on the processor 20. When the processor 20 executes the computer program 30, it implements the unmanned reconnaissance aircraft simulation training method as described above.

[0238] Among them, the memory 10 includes at least one type of storage medium, which includes flash memory, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disc, etc. In some embodiments, the memory 10 can be an internal storage unit of the computer, such as the hard disk of the computer. In other embodiments, the memory 10 can also be an external storage device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 10 can also include both an internal storage unit and an external storage device of the computer. The memory 10 can be used not only to store application software installed on the computer and various types of data, but also to temporarily store data that has been output or will be output.

[0239] Among them, in some embodiments, the processor 20 can be an Electronic Control Unit (ECU, also known as a vehicle computer), a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips, and is used to run the program code stored in the memory 10 or process data, such as executing an access restriction program, etc.

[0240] It should be noted that Figure 2 the structure shown does not limit the computer. In other embodiments, the computer can include fewer or more components than shown in the figure, or combine certain components, or have a different component layout.

[0241] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device.

[0242] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection part with one or more wirings (electronic device), a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, a computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0243] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above-described 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, any one or a combination of the following techniques well-known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0244] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0245] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for simulating the training of an unmanned reconnaissance aircraft, characterized in that, Including: Receiving the training task of the unmanned reconnaissance aircraft; Obtaining the simulated flight path planned by the trainee according to the training task, judging the simulated flight path, and evaluating the flight path planning ability of the trainee according to the judgment result of the simulated flight path; Obtaining the images taken by the trainee according to the training task, where the images contain several targets to be located, and extracting target mapping data from the taken images, and the target mapping data is used to reflect the area where the target is recognized in the image; In response to the target positioning operation of the trainee on the image, recording the positioning points selected during the positioning operation and the set of trajectory points moved after the positioning operation, and calculating the coordinates of the positioning points selected during the positioning operation on the image; Judging the trainee's target positioning according to the target mapping data, the coordinates of the positioning points and the set of trajectory points, and evaluating the trainee's target interpretation ability according to the judgment result of the target positioning; Conducting targeted training for the trainee according to the evaluation result of the flight path planning ability and the evaluation result of the target interpretation ability; The step of calculating the coordinates of the positioning points selected during the positioning operation on the image includes: Obtaining the current position, the altitude, the field of view angle of the camera of the unmanned reconnaissance aircraft, the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft, and the pitch and heading attitude information of the camera when taking the image; Unifying and transforming and then superimposing the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera to obtain the attitude information of the camera relative to the ground; Obtaining the center point of the image according to the attitude information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and calculating the coordinates of the center point; Calculating 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; Constructing an image transformation matrix according to the field of view angle of the camera of the unmanned reconnaissance aircraft, the size of the image, and the attitude information of the camera relative to the ground; Obtaining the offset position of the positioning point relative to the center point, and converting the offset position into the distance components of the positioning point and the center point in the two directions perpendicular and coincident with the line of sight center according to the image transformation matrix; Calculating the coordinates of the positioning point on the image according to the coordinates of the center point and the distance components; The attitude information conversion expression of the unmanned reconnaissance aircraft and the camera is: In the formula, represents the attitude information of the unmanned reconnaissance aircraft, represents the attitude information of the camera; The expression of the longitude coordinate of the center point is: The expression of the latitude coordinate of the center point is: The expression of the horizontal distance is: In the formula, are respectively the longitude coordinate and the latitude coordinate of the center point of the image, and d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft. are respectively the longitude coordinate and the latitude coordinate of the current position of the unmanned reconnaissance aircraft. is the altitude where the unmanned reconnaissance aircraft is located. are respectively the pitch and orientation attitude 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 respectively the longitude coordinate and the latitude coordinate of the positioning point on the image, is the distance between the positioning point and the center point, the northward angle between the positioning point and the center point; In the formula, are respectively the distance components of the positioning point and the center point in two directions perpendicular and coincident with the line-of-sight center.

2. The method for simulating the training of an unmanned reconnaissance aircraft according to claim 1, wherein The step of obtaining the simulated flight path planned by the trainee according to the training task and judging the simulated flight path includes: Loading the GIS map, and obtaining the waypoints plotted by the trainee on the GIS map according to the training task and the altitude identification of the waypoints; Connecting adjacent waypoints into a straight line to form a closed-loop planned flight path, and storing the completion time of the planned flight path, the waypoint information in the planned flight path, the takeoff point, and the standby return landing point into the flight path planning table of the data storage component; Determining the coordinates of all observation points and the coordinates of all obstacles in the planned flight path; Perform completion time assessment, two-point normalization assessment, flight altitude assessment, obstacle avoidance altitude assessment, observation point coverage assessment, and flight path length assessment in sequence to determine whether the planned simulated flight path meets the requirements.

3. The unmanned reconnaissance aircraft simulation training method according to claim 2, characterized in that, The steps of performing completion time assessment, two-point normalization assessment, flight altitude assessment, obstacle avoidance altitude assessment, observation point coverage assessment, and flight path length assessment in sequence to determine whether the planned simulated flight path meets the requirements include: Judge whether the completion time is not greater than the preset assessment time for completion time assessment. If not, the assessment fails. If so, proceed to the next assessment; Judge whether the horizontal distance difference between the takeoff point and the planned return landing point is less than the preset horizontal distance difference for two-point normalization assessment. If not, the assessment fails. If so, proceed to the next assessment; Obtain the altitudes of all waypoints, and judge whether the altitude of the planned return landing point is not less than the altitudes of other waypoints for flight altitude assessment. If not, the assessment fails. If so, proceed to the next assessment; Obtain the obstacle altitude according to the obstacle coordinates, and judge whether the altitude difference between all waypoints and the obstacle is not less than the preset altitude difference for obstacle avoidance altitude assessment. If not, the assessment fails. If so, proceed to the next assessment; Judge whether the distances between all observation points and the flight path are within the preset distance range according to the coordinates of the observation points for observation point coverage assessment. If not, the assessment fails. If so, proceed to the next assessment; Connect all observation points based on the principle of the shortest distance, and use the total length after connecting all observation points as the optimal path length. Perform flight path length assessment according to the ratio of the simulated flight path length to the optimal path length, and finally determine whether the planned simulated flight path meets the requirements.

4. The unmanned reconnaissance aircraft simulation training method according to claim 3, wherein The obstacle avoidance altitude assessment further includes: if there is an altitude difference between a certain waypoint and the obstacle that is less than the preset altitude difference, then: Obtain the preset altitude difference H1, the altitude H2 of this waypoint, the distance L2 from this waypoint to the takeoff point, and the distance L1 from the obstacle to the takeoff point, and judge whether H1, H2, L2, and L1 satisfy the following inequality: If the above inequality is satisfied, the obstacle avoidance altitude assessment is qualified. If the above inequality is not satisfied, the obstacle avoidance altitude assessment is unqualified.

5. The unmanned reconnaissance aircraft simulation training method according to claim 3, characterized in that, The steps of judging whether the distances between all observation points and the flight path are within the preset distance range according to the coordinates of the observation points for observation point coverage assessment include: Obtain the distance D1 between two adjacent waypoints in the simulated flight path, and the distances D2 and D3 from the observation point to these two adjacent waypoints respectively; If the observation point is within the flight path formed by two adjacent waypoints, the distance H from the observation point to the flight path min1 is 0; If the observation point is outside the flight path 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 flight path min1 is the smaller value of D2 and D3; If the observation point is outside the flight path formed by two adjacent waypoints, and this observation point and these two adjacent waypoints form a right triangle or an acute triangle, then the distance from this observation point to the flight path is: Determine the distance H from the observation point to the flight path min1 Whether it is within the preset distance range.

6. The method for simulating the training of an unmanned reconnaissance aircraft according to claim 1, wherein, The steps 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 include: Obtain the positioning time 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 evaluation is unqualified. If so, proceed to the next evaluation; Determine the types and positions 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 evaluation is unqualified. If so, proceed to the next evaluation; Calculate the baseline similarity between the positioning point position and the corresponding target position, adjust the baseline 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; Calculate the positioning rate according to the ratio of the number of targets found by the trainee to the number of actual targets, perform score statistics based on the positioning rate and the average similarity, and evaluate the trainee's target interpretation ability according to the score statistics.

7. The unmanned reconnaissance aircraft simulation training method according to claim 6, characterized in that The step of calculating the baseline similarity between the positioning point position and the corresponding target position includes: If the position of the positioning point is within the area where a certain target can be recognized in the image, the reference similarity between the position of the positioning point and the corresponding target position is 100%; If the positioning point position is outside the area where a certain target can be recognized in the image, calculate the baseline similarity according to the display area of the area where the target can be recognized in the current image and the shortest distance from the positioning point position to the area where the target can be recognized; The calculation expression of the baseline similarity is: In the formula, represents the display area of the region where the target can be recognized in the current image, represents the shortest distance from the position of the positioning point to the region where the target can be recognized, represents the reference similarity.

8. An unmanned reconnaissance aircraft simulation training system, characterized in that, Including: A receiving module for receiving the unmanned reconnaissance aircraft training task; A first evaluation module for obtaining the simulated flight path planned by the trainee according to the training task, judging the simulated flight path, and evaluating the trainee's flight path planning ability according to the judgment result of the simulated flight path; A shooting module for obtaining the image taken by the trainee according to the training task. The image contains several targets to be positioned, and extract the target mapping data in the taken image. The target mapping data is used to reflect the area where the target is recognized in the image; A calculation module for responding to the target positioning operation of the trainee 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; A second evaluation module for 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; A training module for performing targeted training on the trainee according to the evaluation results of the flight path planning ability and the target interpretation ability; The step of calculating the coordinates of the positioning point selected during the positioning operation on the image includes: Obtain the current position, altitude of the unmanned reconnaissance aircraft when taking the image, the field of view angle of the unmanned reconnaissance aircraft camera, the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft, and the pitch and heading attitude information of the camera; Unify and transform and superimpose the pitch, roll, and heading attitude information of the unmanned reconnaissance aircraft and the pitch and heading attitude information of the camera to obtain the attitude information of the camera relative to the ground; Obtain the center point of the image according to the attitude information of the camera relative to the ground and the current position of the unmanned reconnaissance aircraft, and calculate the coordinates of the center point; Calculate the horizontal distance between the image center point 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 according to the field of view angle of the unmanned reconnaissance aircraft camera, the size of the image, and the attitude 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 components of the positioning point and the center point in the two directions perpendicular and coincident with the line of sight center according to the image transformation matrix; Calculate the coordinates of the positioning point on the image according to the coordinates of the center point and the distance components; The attitude information conversion expression of the unmanned reconnaissance aircraft and the camera is: In the formula, represents the attitude information of the unmanned reconnaissance aircraft, represents the attitude information of the camera; The expression of the longitude coordinate of the center point is: The expression of the latitude coordinate of the center point is: The expression of the horizontal distance is: In the formula, are respectively the longitude coordinate and latitude coordinate of the center point of the image, and d0 is the horizontal distance between the center point of the image and the unmanned reconnaissance aircraft. are respectively the longitude coordinate and latitude coordinate of the current position of the unmanned reconnaissance aircraft. is the altitude where the unmanned reconnaissance aircraft is located. are respectively the pitch and orientation attitude 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 respectively the longitude coordinate and the latitude coordinate of the positioning point on the image, is the distance between the positioning point and the center point, the northward angle between the positioning point and the center point; Wherein, are respectively the distance components of the positioning point and the center point in two directions perpendicular and coincident with the line-of-sight center.

Images