Marine formation simulation behavior modeling system and method

Abstract

The invention discloses an offshore formation simulation behavior modeling system and method. The system comprises a model construction module and a simulation operation module. The model construction module is in data connection with the simulation operation module and is used for constructing an offshore formation model; the marine formation model comprises a formation command entity sub-model and N platform entity sub-models; n is an integer greater than 1; and the simulation operation module is used for performing simulation based on the offshore formation model and outputting target situation information. According to the method, decoupling of simulation logic and the marine formation model can be realized, the simulation process is simplified, the simulation efficiency is improved, and the simulation process can be dynamically determined in combination with the change condition of the target.

Description

Technical Field

[0001] The present invention belongs to the field of system simulation, and particularly relates to a simulation behavior modeling system and method for a maritime formation. Background Art

[0002] Through behavior modeling, it is possible to simulate and evaluate different command and coordination mechanisms among various units within a maritime formation, thereby continuously optimizing the operation process and improving the adaptability to complex sea conditions and events.

[0003] However, existing behavior modeling methods can only determine the subordinate platform entities that execute action instructions in a "stylized" manner by the command entity according to the planned tasks and predetermined subordinate selection rules, without considering the impact of the dynamic changes of various targets during the simulation process on the action instructions. When the targets change dynamically, the command entity cannot promptly grasp the target situation, making it difficult to flexibly dispatch subordinate platform entities for on-the-spot handling and quickly integrate resources to respond to multiple action scenarios.

[0004] In addition, the internal logic of existing behavior modeling methods has a high degree of coupling. For different simulation stage configurations, cooperative action methods, autonomous action methods, and equipment types, they cannot be directly extended, but rather new maritime formation models need to be established, resulting in excessive redundancy, a long simulation process, and low efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a simulation behavior modeling system and method for a maritime formation, which can achieve the decoupling of the simulation logic and the maritime formation model, simplify the simulation process, improve the simulation efficiency, and dynamically determine the simulation process in combination with the changes in the targets.

[0006] To solve the above technical problem, in the first aspect of the embodiments of the present invention, a simulation behavior modeling system for a maritime formation is disclosed. The system includes;

[0007] As an optional implementation manner, in the first aspect of the embodiments of the present invention, the simulation behavior modeling system for a maritime formation is characterized by including a model construction module and a simulation operation module;

[0008] The model construction module is connected to the simulation operation module for data, and is used to construct a maritime formation model; the maritime formation model includes a formation command entity sub-model and N platform entity sub-models; N is an integer greater than 1;

[0009] The simulation operation module is used to perform simulation based on the maritime formation model and output target situation information.

[0010] As an alternative implementation, in the first aspect of the embodiments of the present invention, the formation command entity sub-model includes a first storage unit, a second storage unit, a third storage unit, a task decision-making unit, and an action phase decision-making unit;

[0011] The first storage unit is connected to the action phase decision-making unit for storing an action phase list; the action phase list includes several action phases; the action phase includes a phase name, a phase status, a phase name sequence, a termination type, and a termination time;

[0012] The second storage unit is connected to the action phase decision-making unit for storing a phase conversion rule list; the phase conversion rule list includes several phase conversion rules; the phase conversion rule includes a conversion condition and a target phase name;

[0013] The third storage unit is connected to the task decision-making unit for storing a collaboration rule list; the collaboration rule list includes several collaboration rules; the collaboration rule includes a collaboration condition and a tactical number;

[0014] The task decision-making unit is connected to the simulation operation module and the N platform entity sub-models for performing task allocation based on the target situation information and the controlled execution status output by the platform entity sub-model;

[0015] The action phase decision-making unit is used to update the action phase to obtain an action status judgment result.

[0016] As an alternative implementation, in the first aspect of the embodiments of the present invention, the platform entity sub-model includes a fourth storage unit, a fifth storage unit, several abstract equipment components, and an autonomous action decision-making unit;

[0017] The fourth storage unit is connected to the autonomous action decision-making unit for storing the autonomous rule list; the autonomous rule list includes several autonomous rules; the autonomous rule includes an action condition and a tactical number;

[0018] The fifth storage unit is connected to the autonomous action decision-making unit for storing a tactical action set; the tactical action set includes several tactical action information; the tactical action information includes several equipment operation instructions; the equipment operation instruction includes an equipment number and operation parameters;

[0019] The abstract equipment component is connected to the simulation operation module for performing equipment control;

[0020] The autonomous action decision-making unit is connected to the abstract equipment component and the formation command entity sub-model data, and is used for making autonomous action decisions, as well as initializing and updating the controlled execution status.

[0021] In the second aspect of the embodiments of the present invention, a method for modeling the simulation behavior of a maritime formation is disclosed. The method includes:

[0022] S1. Use the model construction module to construct a maritime formation model;

[0023] S2. Use the simulation operation module to perform simulation calculations based on the maritime formation model and output target situation information;

[0024] S3. Use the autonomous action decision-making unit of each platform entity sub-model in the maritime formation model to initialize the corresponding controlled execution status to obtain a platform status set;

[0025] S4. Use the action phase decision-making unit of the formation command entity sub-model to update the action phase to obtain an action status judgment result;

[0026] S5. Use the task decision-making unit of the formation command entity sub-model of the maritime formation model to perform task allocation based on the platform status set and the target situation information;

[0027] S6. Use the autonomous action decision-making unit of each platform entity sub-model in the maritime formation model to make autonomous action decisions and update the value of the corresponding controlled execution status;

[0028] S7. Repeat S2 to S6 until the action status judgment result is yes.

[0029] As an optional implementation manner, in the second aspect of the embodiments of the present invention, the use of the model construction module to construct a maritime formation model includes:

[0030] S11. Obtain action plan information; the action plan information includes an action phase list, a phase transition rule list, a collaboration rule list, and N autonomous rule lists;

[0031] S12. Use the action phase list, the phase transition rule list, and the collaboration rule list to create a formation command entity sub-model;

[0032] S13. Use the N autonomous rule lists to create N initial platform entity sub-models; the initial platform entity sub-models include the second storage component;

[0033] S14. Perform assembly processing on each initial platform entity sub-model to obtain the corresponding platform entity sub-model;

[0034] S15. Combine the formation command entity sub-model and the N platform entity sub-models to obtain the maritime formation model.

[0035] As an alternative implementation, in the second aspect of the embodiments of the present invention, when using the action phase decision unit of the formation command entity sub-model to update the action phase and obtain the action status judgment result, it includes:

[0036] S41. Initialize the initial phase name sequence as empty;

[0037] S42. Sequentially judge whether the target situation information satisfies the conversion conditions of each phase conversion rule in the phase conversion rule list stored in the second storage unit of the formation command entity sub-model to obtain a first judgment result;

[0038] When the first judgment result is yes, add the target phase name of the corresponding phase conversion rule to the initial phase name sequence;

[0039] When the first judgment result is no, the initial phase name sequence remains unchanged;

[0040] S43. Set the current phase name sequence as the phase name sequence in the action phase list stored in the first storage unit of the formation command entity sub-model where the corresponding phase status is active;

[0041] S44. Judge whether the initial phase name sequence is empty to obtain a second judgment result;

[0042] When the second judgment result is no, use the current phase name sequence and the initial phase name sequence to perform a first update process on the action phase list to obtain the action phase list after the first update process;

[0043] When the second judgment result is yes, perform a second update process on the action phase list to obtain the action phase list after the second update process;

[0044] S45. Judge whether there is an action phase with an active phase status in the action phase list to obtain the action status judgment result.

[0045] As an alternative implementation, in the second aspect of the embodiments of the present invention, when using the current phase name sequence and the initial phase name sequence to perform a first update process on the action phase list to obtain the action phase list after the first update process, it includes:

[0046] S441. Use the current stage name sequence to perform a priority matching process on the initial stage name sequence to obtain the target stage name;

[0047] S442. Sequentially determine whether each stage name in the action stage list is the same as the target stage name to obtain a third judgment result;

[0048] When the third judgment result is yes, set the corresponding stage status to active;

[0049] When the third judgment result is no, set the corresponding stage status to inactive.

[0050] As an optional implementation manner, in the second aspect of the embodiments of the present invention, the second update process on the action stage list to obtain the second updated action stage list includes:

[0051] S443. Set the current serial number p to the serial number of the action stage in the action stage list whose corresponding stage status is active;

[0052] S444. Set the current termination type to the termination type of the p-th action stage in the action stage list;

[0053] S445. Judge whether the value of the termination type is 1 to obtain a sixth judgment result;

[0054] When the sixth judgment result is yes, execute S446;

[0055] When the sixth judgment result is no, the action stage list remains unchanged; execute S5;

[0056] S446. Obtain the current time;

[0057] S447. Set the current termination time to the termination time of the p-th action stage in the action stage list;

[0058] S448. Judge whether the current time is earlier than the current termination time to obtain a seventh judgment result;

[0059] When the seventh judgment result is earlier, the action stage list remains unchanged;

[0060] When the seventh judgment result is not earlier, perform a status switching process on the action stage list to obtain the second updated action stage list.

[0061] As an alternative embodiment, in the second aspect of the embodiments of the present invention, the task decision-making unit of the formation command entity sub-model using the offshore formation model performs task allocation based on the platform status set and the target situation information, including:

[0062] S51. Initialize the first loop count i to 1;

[0063] S52. Read the i-th cooperation rule in the cooperation rule list stored in the third storage unit of the formation command entity sub-model to obtain the current cooperation rule;

[0064] S53. Determine whether the target situation information satisfies the cooperation condition of the current cooperation rule to obtain a first cooperation judgment result;

[0065] When the first cooperation judgment result is yes, set the controlled tactic number to the tactic number of the current cooperation rule; set the available platform set to be empty; execute S55;

[0066] When the first cooperation judgment result is no, increment the value of i by 1;

[0067] S54. Repeat S52 - S53 until i is greater than the number of cooperation rules in the cooperation rule list;

[0068] S55. Sequentially determine whether each of the controlled execution states in the platform status set is yes to obtain a second cooperation judgment result;

[0069] When the second cooperation judgment result is no, add the number of the platform entity sub-model corresponding to the controlled execution state to the available platform set;

[0070] When the second cooperation judgment result is yes, the available platform set remains unchanged;

[0071] S56. Judge whether the available platform set is empty to obtain a third cooperation judgment result;

[0072] When the third cooperation judgment result is yes, execute S6;

[0073] When the third cooperation judgment result is no, use the target situation information to screen the available platform set to obtain an execution number;

[0074] S57. Send the controlled tactic number to the platform entity sub-model corresponding to the execution number.

[0075] As an alternative embodiment, in the second aspect of the embodiments of the present invention, in the utilization of the maritime formation model, the autonomous action decision-making unit of each platform entity sub-model is used to make autonomous action decisions and update the value of the corresponding controlled execution state, including:

[0076] S61. Determine whether the controlled tactical number from the formation command entity sub-model is received to obtain a first controlled judgment result;

[0077] When the first controlled judgment result is yes, set the value of the corresponding controlled execution state to yes;

[0078] When the first controlled judgment result is no, the corresponding controlled execution state remains unchanged; based on the target situation information, make autonomous action decisions; execute S64;

[0079] S62. Search for the tactical action information with the serial number of the current tactical number in the tactical action set stored in the corresponding fifth storage unit to obtain the current tactical action information;

[0080] S63. Send the operation parameters of each equipment operation instruction in the current tactical action information to the abstract equipment component with the equipment number corresponding to the serial number of the corresponding equipment operation instruction in the corresponding platform entity sub-model;

[0081] S64. Determine whether the execution completion signals sent by all the abstract equipment components in the corresponding platform entity sub-model are received to obtain a second controlled judgment result;

[0082] When the second controlled judgment result is yes, set the value of the controlled execution state to no;

[0083] When the second controlled judgment result is no, the controlled execution state remains unchanged;

[0084] S65. Use the controlled action decision-making units of the N platform entity sub-models to respectively execute S61 to S64.

[0085] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0086] (1) By introducing an independently configurable action phase list and a phase transition rule list in the formation command entity sub-model, the automatic and flexible conversion of action phases is realized, and there is no need to establish different formation command entity sub-models for different conversion scenarios respectively, improving the simulation efficiency;

[0087] (2) By introducing an independently configurable list of collaboration rules in the formation command entity sub-model, the automatic and flexible scheduling of the lower-level platform entity sub-models is achieved, eliminating the need to establish different formation command entity sub-models for different collaboration scenarios respectively, and improving the simulation efficiency.

[0088] (3) By introducing an independently configurable list of autonomous rules in each platform entity sub-model respectively, and combining the target situation information dynamically output by the simulation operation module, the tactics to be executed are determined autonomously, which can improve the adaptability of the platform entity sub-model to dynamically changing targets, and eliminate the need to recreate a new platform entity sub-model for different autonomous decision-making logics each time.

[0089] (4) By configuring different sets of tactical actions, the corresponding platform entity sub-models can be customized with personalized tactics, thus simplifying the simulation process. Brief Description of the Drawings

[0090] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0091] Figure 1 It is a schematic structural diagram of a maritime formation simulation behavior modeling system disclosed in an embodiment of the present invention.

[0092] Figure 2 It is a schematic structural diagram of a formation command entity sub-model of a maritime formation simulation behavior modeling system disclosed in an embodiment of the present invention.

[0093] Figure 3 It is a schematic structural diagram of a platform entity sub-model of a maritime formation simulation behavior modeling system disclosed in an embodiment of the present invention.

[0094] Figure 4 It is a schematic flow diagram of a maritime formation simulation behavior modeling method disclosed in an embodiment of the present invention. Detailed Embodiments

[0095] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0096] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0097] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0098] Embodiment 1

[0099] Please refer to Figures 1-3 。 Figure 1 is a schematic structural diagram of a maritime formation simulation behavior modeling system disclosed in an embodiment of the present invention. Figure 2 is a schematic structural diagram of a formation command entity sub-model of a maritime formation simulation behavior modeling system disclosed in an embodiment of the present invention. Figure 3 is a schematic structural diagram of a platform entity sub-model of a maritime formation simulation behavior modeling system disclosed in an embodiment of the present invention. Among them, Figure 1 the described maritime formation simulation behavior modeling system is applied to the field of system simulation, such as the simulation behavior modeling of maritime formations, which is not limited in the embodiments of the present invention. As Figure 1 shown, the system includes a model construction module and a simulation operation module;

[0100] The above model construction module is data-connected to the simulation operation module and is used to construct a maritime formation model; the above maritime formation model includes a formation command entity sub-model and N platform entity sub-models; N is an integer greater than 1;

[0101] It should be noted that the above platform entity sub-model is used to simulate specific units such as airplanes, ships, submarines, etc.

[0102] The above simulation operation module is used to perform simulation based on the maritime formation model and output target situation information.

[0103] It should be noted that the above-mentioned target situation information includes trajectory type, threat type, motion information, and target information. The above-mentioned trajectory type is used to describe the medium type where the target is located, which can be air, water surface, underwater, space, or ground. The above-mentioned threat type is used to indicate the threat level of the target, which can be friendly, enemy, neutral, or unknown. The above-mentioned motion information includes speed value and heading angle. The above-mentioned target information includes target position and target distance set. The above-mentioned target position includes the longitude value and latitude value of the target. The above-mentioned target distance set includes N target distances, which are respectively used to represent the distances between the target and N platform simulation entity models.

[0104] It should be noted that the above-mentioned simulation operation module is built based on the Extensible Simulation Platform (abbreviated as XSIM). XSimStudio is based on the multi-agent modeling and simulation method, with object-oriented component-based modeling and parallel discrete event simulation technology as the core, and supports OODA process simulation. XSimStudio runs through the entire life cycle of the simulation system, providing comprehensive support such as integrated development, operation management, and resource services in various stages of model preparation, plan formulation, system operation, analysis and evaluation, and situation display. XSimStudio has a built-in general modeling system, provides a component-based modeling mechanism, supports the secondary development of models and application software with different granularities, and can provide a series of complete solutions for the research, development, integration, and operation management of simulation systems at all levels in various fields such as analysis and demonstration, simulation training, and experimental evaluation. XSimStudio is both a mature simulation application platform and a professional simulation development platform. As an application platform, XSimStudio provides a series of tools (including model design tools, state machine editing tools, model assembly tools, scenario editing tools, experimental design tools, scenario running tools, operation management tools, situation display tools, etc.) around the pre, in, and post simulation. Users can use existing resources to conduct research, demonstration, experiment, and simulation training in the professional field. As a development platform, XSimStudio provides an efficient simulation engine and a perfect modeling framework, supporting users to develop models and application systems.

[0105] In an optional embodiment, as Figure 2 shown, the above-mentioned formation command entity sub-model includes a first storage unit, a second storage unit, a third storage unit, a task decision unit, and an action phase decision unit;

[0106] The above-mentioned first storage unit is data-connected to the action phase decision unit and is used to store the action phase list. The above-mentioned action phase list includes several action phases. The above-mentioned action phase includes phase name, phase status, phase name sequence, termination type, and termination time;

[0107] It should be noted that the values of the above stage status are activated or not activated, where activation indicates that the current is in the corresponding action stage, and not activated indicates that the current is not in the corresponding action stage.

[0108] It should be noted that the above stage name sequence, including several stage names, is used to represent the action stages that the current action stage can be converted to.

[0109] It should be noted that the values of the above termination types are 1 or 0, where a value of 1 indicates that the corresponding action stage terminates with a fixed duration, and a value of 0 indicates that it does not terminate at a fixed time. The value of the above termination time only takes effect when the value of the termination type is 1, and can be any value when the value of the termination type is 0.

[0110] The above second storage unit is data-connected to the action stage decision unit and is used to store the stage conversion rule list; the above stage conversion rule list includes several stage conversion rules; the above stage conversion rules include conversion conditions and target stage names;

[0111] The above third storage unit is data-connected to the task decision unit and is used to store the cooperation rule list; the above cooperation rule list includes several cooperation rules; the above cooperation rules include cooperation conditions and tactical numbers;

[0112] It should be noted that the cooperation rules in the above cooperation rule list are arranged in descending order of priority.

[0113] The above task decision unit is data-connected to the simulation operation module and N platform entity sub-models, and is used to perform task allocation based on the target situation information and the controlled execution status output by the platform entity sub-models;

[0114] The above action stage decision unit is used to update the action stage to obtain an action status judgment result.

[0115] In another alternative embodiment, as Figure 3 shown, the above platform entity sub-model includes a fourth storage unit, a fifth storage unit, several abstract equipment components, and an autonomous action decision unit;

[0116] The above four storage unit is data-connected to the autonomous action decision unit and is used to store the autonomous rule list; the above autonomous rule list includes several autonomous rules; the above autonomous rules include action conditions and tactical numbers;

[0117] It should be noted that the above conversion conditions, action conditions, and coordination conditions all include a set of trajectory types, a set of threat types, movement restriction information, and position requirement information; the above set of trajectory types and set of threat types respectively include several target trajectory types and threat types; the above movement restriction information is used to describe the requirements for the target movement situation, including the maximum speed, minimum speed, maximum course angle, and minimum course angle; the above position requirement information is used to describe the restrictions on the position of the target, including the reference coordinates and the maximum distance.

[0118] It should be noted that the above tactical number represents the specific tactical action to be completed by a single platform entity sub-model, which can be reconnaissance, soft kill, engagement, or battle damage assessment, etc.; each of the above equipment operation instructions corresponds to an abstract equipment component of the platform entity sub-model; the above equipment number refers to the serial number of the corresponding abstract equipment component in the abstract equipment component library.

[0119] The above fifth storage unit is data-connected to the autonomous action decision-making unit and is used to store a set of tactical actions; the above set of tactical actions includes several tactical action information; the above tactical action information includes several equipment operation instructions; the above equipment operation instructions include an equipment number and operation parameters;

[0120] It should be noted that the above tactical action information is an abstraction of all the specific tasks executed by the platform entity sub-model, and it includes the equipment operation instructions necessary to complete a specific task.

[0121] It should be noted that the above equipment number is the serial number of the abstract equipment component in the set of abstract equipment components.

[0122] It should be noted that the above tactical number is the serial number of the tactical action information in the set of tactical actions.

[0123] It should be noted that the above operation parameters are used to represent the parameter values required for the corresponding abstract equipment component to complete its function. For example, for an abstract equipment component of the maneuver type, the speed, altitude, and action distance; for an abstract equipment component of the sensor type, the sensing direction and sensing time; for an abstract equipment component of the communication type, the communication method, communication object, and communication time; for an abstract equipment component of the interference type, the interference method, interference object, and interference time; and for an abstract equipment component of the damage type, the damage object and damage range, etc. The embodiments of the present invention do not make any limitations.

[0124] It should be noted that the above-mentioned abstract equipment components are used to describe the equipment capabilities of the corresponding equipment; further, the types of the above-mentioned abstract equipment components can be maneuver types, sensor types, communication types, interference types, or damage types; the abstract equipment components of the maneuver type are used to describe the maneuver capabilities of the equipment, such as the speed of surface ships, the speed and maximum diving depth of submarines, the flight altitude, maximum flight speed, and flight radius of aircraft, etc.; the abstract equipment components of the sensor type are used to describe the environmental perception capabilities of the equipment, such as the target detection distance of radar sensors; the abstract equipment components of the communication type are used to describe the communication capabilities of the equipment, such as supporting communication with the outside world via satellite or radio; the abstract equipment components of the interference type are used to describe the interference capabilities of the equipment, such as supporting optical and electrical means to interfere with specified targets; the abstract equipment components of the damage type are used to describe the damage capabilities of the equipment, such as the supported damage methods.

[0125] The above-mentioned abstract equipment components are connected to the simulation operation module for data to control the equipment.

[0126] It should be noted that the above-mentioned equipment control includes sending equipment operation instructions to the simulation operation module and receiving the execution completion signal sent by the simulation operation module.

[0127] The above-mentioned autonomous action decision-making unit is connected to the abstract equipment components and the formation command entity sub-model for data to make autonomous action decisions and initialize and update the controlled execution status.

[0128] It can be seen that implementing the maritime formation simulation behavior modeling system described in the embodiments of the present invention can achieve three simulation logics, namely stage transition, coordinated action, and autonomous action, decouple from the maritime formation model, simplify the simulation process, improve the simulation efficiency, and dynamically determine the simulation process in combination with the changes of the target.

[0129] Embodiment 2

[0130] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of a maritime formation simulation behavior modeling method disclosed in the embodiments of the present invention. Among them, Figure 4 The described maritime formation simulation behavior modeling method is applied to the field of system simulation, such as the simulation behavior modeling of maritime formations, which is not limited in the embodiments of the present invention. As Figure 4 shown, the maritime formation simulation behavior modeling method includes:

[0131] S1. Use the model construction module to construct a maritime formation model;

[0132] S2. Use the simulation operation module to perform simulation calculations based on the maritime formation model and output target situation information;

[0133] S3. Use the autonomous action decision-making unit of each platform entity sub-model in the maritime formation model to initialize the corresponding controlled execution status, and obtain the platform status set;

[0134] It should be noted that the above platform status set includes N controlled execution statuses; each controlled execution status corresponds to a platform entity sub-model. The value of the above controlled execution status is "yes" or "no", which is used to indicate whether the corresponding platform entity sub-model is executing the tactical action corresponding to the controlled tactical number sent by the formation command entity sub-model.

[0135] It should be noted that the above initialization of the corresponding controlled execution status is to set the value of the controlled execution status to "no".

[0136] S4. Use the action phase decision-making unit of the formation command entity sub-model to update the action phase and obtain the action status judgment result;

[0137] S5. Use the task decision-making unit of the formation command entity sub-model of the maritime formation model to perform task allocation based on the platform status set and the target situation information;

[0138] S6. Use the autonomous action decision-making unit of each platform entity sub-model in the maritime formation model to make autonomous action decisions and update the value of the corresponding controlled execution status;

[0139] It should be noted that the updated N controlled execution statuses constitute the updated platform status set.

[0140] S7. Repeat S2 to S6 until the action status judgment result is "yes".

[0141] It can be seen that by implementing the maritime formation simulation behavior modeling method described in the embodiments of the present invention, it is beneficial to simplify the simulation process, improve the simulation efficiency and the adaptability to dynamically changing targets.

[0142] In an optional embodiment, the above use of the model construction module to construct the maritime formation model includes:

[0143] S11. Obtain the action plan information; the above action plan information includes an action phase list, a phase transition rule list, a collaboration rule list, and N autonomous rule lists;

[0144] S12. Use the action phase list, the phase transition rule list, and the collaboration rule list to create the formation command entity sub-model;

[0145] It should be noted that by using the action phase list, the phase transition rule list, and the collaboration rule list to create the formation command entity sub-model, the action phase list, the phase transition rule list, and the collaboration rule list are respectively written into the first storage unit, the second storage unit, and the third storage unit of the newly created formation command entity sub-model.

[0146] It should be noted that the phase state of the first action phase in the action phase list in the action plan information is active, and the phase states of the remaining action phases are all inactive. And before the action phase list is written into the first storage unit and all actions are completed, only the phase state of one action phase is active, that is, the action always starts from the first action phase, and only one action phase can be in progress during the action process.

[0147] S13. Create N initial platform entity sub-models by using N autonomous rule lists; the above initial platform entity sub-models include a second storage component;

[0148] It should be noted that the N autonomous rule lists are respectively written into the fourth storage unit of the second storage component of the N newly created initial platform entity sub-models; the fifth storage unit of the second storage component of each initial platform entity sub-model is empty.

[0149] S14. Perform an assembly process on each initial platform entity sub-model to obtain the corresponding platform entity sub-model;

[0150] S15. Combine the formation command entity sub-model and the N platform entity sub-models to obtain a maritime formation.

[0151] In another alternative embodiment, the above-mentioned performing an assembly process on each initial platform entity sub-model to obtain the corresponding platform entity sub-model specifically includes:

[0152] S141. In response to a user operation, select N1 tactical action components from a preset tactical action component library to obtain the corresponding tactical action component set;

[0153] The above-mentioned tactical action component library includes N2 tactical action components; both the above-mentioned N1 and N2 are integers greater than 1, and N1 is less than or equal to N2;

[0154] S142. Write the tactical action component set into the fifth storage unit of the second storage component of the initial platform entity sub-model;

[0155] S143. In response to a user operation, select N3 abstract equipment components from a preset abstract equipment component library to obtain the corresponding abstract equipment component set;

[0156] The above-mentioned abstract equipment component library includes N4 abstract equipment components; both N3 and N4 are integers greater than 1, and N3 is less than or equal to N4;

[0157] S144. Combine the abstract equipment component set with the initial platform entity sub-model to obtain the platform entity sub-model.

[0158] It can be seen that implementing the maritime formation simulation behavior modeling method described in the embodiments of the present invention is beneficial to establishing the platform entity sub-model, respectively mapping with the tactical action components and the abstract equipment components, and realizing the on-demand assembly of the platform entity sub-model.

[0159] In another optional embodiment, the above-mentioned simulation operation module is used to perform simulation calculations based on the maritime formation model and output target situation information, including:

[0160] S21. Obtain the scenario file;

[0161] It should be noted that the scenario file is the input of the simulation task, which stipulates the initial conditions, scenario settings and time step of the simulation; the above-mentioned initial conditions include simulation map data, start time and N initial positions; the above-mentioned scenario settings include the trajectory types and threat types of a preset number of targets, as well as the dynamic changes of the speed, heading and position of each target at different time steps during the simulation process.

[0162] S22. Load the scenario file to obtain the initial conditions, scenario settings and time step;

[0163] It should be noted that the above-mentioned loading of the scenario file is to parse the scenario file and load the initial conditions, scenario settings and time step into the memory.

[0164] S23. Perform initialization processing on the initial conditions and the maritime formation model to obtain the simulation environment;

[0165] S24. Perform simulation calculations based on the simulation environment, time step and scenario settings to obtain the target situation information.

[0166] In another optional embodiment, the above-mentioned initialization processing of the initial conditions and the maritime formation model to obtain the simulation environment includes:

[0167] S231. Create a simulation map using the simulation map data;

[0168] S232. Initialize the simulation start time to the start time;

[0169] S233. Based on the N platform entity sub-models of the maritime formation model, create N platform simulation entity models; the above-mentioned platform simulation entity models include a number of simulation equipment components;

[0170] It should be noted that the above N platform simulation entity models respectively correspond one-to-one with the N platform entity sub-models; the simulation equipment components in each platform simulation entity model correspond one-to-one with the abstract equipment components of the corresponding platform entity sub-model; each simulation equipment component meets the equipment capabilities described by the corresponding abstract equipment component, is used to receive the equipment operation instructions of the corresponding abstract equipment component, and execute the corresponding equipment functions.

[0171] It should be noted that after each simulation equipment component completes the execution of the corresponding equipment operation instruction, it sends an execution completion signal to the corresponding abstract equipment component; each abstract equipment component in each platform entity sub-model forwards the execution completion signal to the autonomous action decision-making unit of the corresponding platform entity sub-model after receiving the execution completion signal from the corresponding simulation equipment component.

[0172] S234. Deploy the N platform simulation entity models to N initial positions respectively.

[0173] It should be noted that the above deployment is to set the initial position of each platform simulation entity model to the corresponding initial position and display a preset icon at the corresponding position on the simulation map.

[0174] In another optional embodiment, the above-mentioned simulation calculation is performed based on the simulation environment, time step, and scenario settings to obtain the target situation information, which is to advance the simulation time by one time step, dynamically deploy preset targets on the simulation map according to the scenario settings, and control the operation of the corresponding simulation equipment components and execute the corresponding functions when receiving the equipment operation commands from the abstract equipment components.

[0175] It can be seen that implementing the maritime formation simulation behavior modeling method described in the embodiments of the present invention is beneficial to decouple the static ability description of the equipment from the actual operation process, thereby simplifying the assembly process of the platform entity sub-model.

[0176] In another optional embodiment, the above-mentioned use of the action phase decision-making unit of the formation command entity sub-model to update the action phase and obtain the action state judgment result includes:

[0177] S41. Initialize the initial phase name sequence to be empty;

[0178] S42. Sequentially judge whether the target situation information meets the conversion conditions of each phase conversion rule in the phase conversion rule list stored in the second storage unit of the formation command entity sub-model to obtain the first judgment result;

[0179] When the first judgment result is yes, add the target phase name of the corresponding phase conversion rule to the initial phase name sequence;

[0180] When the first judgment result is negative, the initial stage name sequence remains unchanged;

[0181] It should be noted that the above-mentioned target situation information meets a certain conversion condition, which means that the trajectory type, threat type, motion information, and target information of the target situation information respectively and simultaneously meet the trajectory type set, threat type set, motion restriction information, and position requirement information of the conversion condition; further, the trajectory type of the target situation information meets the trajectory type set of the conversion condition, which means that the trajectory type set of the conversion condition includes the trajectory type of the target situation information; the threat type of the target situation information meets the threat type set of the conversion condition, which means that the threat type set of the conversion condition includes the threat type of the target situation information; the motion information of the target situation information meets the motion restriction information of the conversion condition, which means that the speed value of the motion information is between the minimum speed and the maximum speed of the motion restriction information, and the course angle of the motion information is between the minimum course angle and the maximum course angle of the motion restriction information; the target information of the target situation information meets the position requirement information of the conversion condition, which means that the distance between the target position in the target information and the reference coordinate in the position requirement information is less than the maximum distance in the position requirement information.

[0182] It should be noted that after S42 is executed, the initial stage name sequence includes the target stage names of all stage conversion rules that meet the conversion condition; further, since the stage conversion rules in the stage conversion rule list are arranged in descending order of priority, the priority of the stage conversion rules corresponding to the target stage names ranked higher in the initial stage name sequence is also higher. Therefore, under the same conditions, the jump should be given priority.

[0183] S43. Set the current stage name sequence as the stage name sequence with the corresponding stage status being activated in the action stage list stored in the first storage unit of the formation command entity sub-model;

[0184] S44. Judge whether the initial stage name sequence is empty to obtain a second judgment result;

[0185] When the second judgment result is negative, perform a first update process on the action stage list using the current stage name sequence and the initial stage name sequence to obtain the action stage list after the first update process;

[0186] When the second judgment result is positive, perform a second update process on the action stage list to obtain the action stage list after the second update process;

[0187] It should be noted that after step S44 is executed, the action stage list after the action stage is updated is obtained.

[0188] It should be noted that the above initial stage name sequence is empty, indicating that there is no action stage to jump to.

[0189] S45. It is determined whether there is an action stage with an activated stage status in the action stage list, and an action status determination result is obtained.

[0190] It can be seen that by constructing the initial stage name sequence and further judging and updating it in combination with the current stage name sequence, it is possible to realize automatic jump of the action stage and dynamically generate the action state judgment result, which is helpful to determine the end time of the simulation.

[0191] In another optional embodiment, the current stage name sequence and the initial stage name sequence are used to perform a first update process on the action stage list to obtain the action stage list after the first update process, including:

[0192] S441, using the current stage name sequence, performing priority matching processing on the initial stage name sequence to obtain the target stage name;

[0193] S442, judging in turn whether each stage name in the action stage list is the same as the target stage name, and obtaining a third judgment result;

[0194] When the third judgment result is yes, the corresponding stage state is set to activated;

[0195] When the third judgment result is no, the corresponding stage state is set to inactive.

[0196] It can be seen that, through the first update processing, when there is an action stage to which jumps can be made, priority can be given to jumping to the action stage with the highest priority.

[0197] In yet another optional embodiment, the above-mentioned use of the current stage name sequence to perform priority matching processing on the initial stage name sequence to obtain the target stage name includes:

[0198] S4411, setting the current loop number m to 1;

[0199] S4412, setting the current stage name to the mth target stage name in the current stage name sequence;

[0200] S4413, judging whether the initial stage name sequence contains the current stage name, and obtaining a fourth judgment result;

[0201] When the fourth judgment result is yes, execute S4415;

[0202] When the fourth judgment result is no, the value of m is increased by 1;

[0203] S4414. Determine whether the value of m is greater than the length of the current stage name sequence to obtain a fifth judgment result;

[0204] When the fifth judgment result is yes, execute S4415;

[0205] When the fifth judgment result is no, execute S4412;

[0206] S4415. Determine that the target stage name is the current stage name.

[0207] It can be seen that through the priority matching process, it can be ensured that the action stage corresponding to the obtained target stage name has the highest priority.

[0208] In another alternative embodiment, the above-mentioned second update process for the action stage list to obtain the second updated action stage list includes:

[0209] S443. Set the current serial number p as the serial number of the action stage corresponding to the active stage status in the action stage list;

[0210] S444. Set the current termination type as the termination type of the p-th action stage in the action stage list;

[0211] S445. Determine whether the value of the termination type is 1 to obtain a sixth judgment result;

[0212] When the sixth judgment result is yes, execute S446;

[0213] When the sixth judgment result is no, the action stage list remains unchanged; execute S5;

[0214] It should be noted that the value of 1 for the above termination type indicates termination with a fixed duration, and 0 indicates non-fixed time termination. It is necessary to further determine whether to terminate by judging the conversion conditions of the stage conversion rules.

[0215] S446. Obtain the current time;

[0216] It should be noted that the above current time is the simulation time in the simulation operation module.

[0217] S447. Set the current termination time as the termination time of the p-th action stage in the action stage list;

[0218] S448. Determine whether the current time is earlier than the current termination time to obtain a seventh judgment result;

[0219] When the seventh judgment result is earlier than, the action stage list remains unchanged;

[0220] When the seventh judgment result is not earlier than, perform state switching processing on the action phase list to obtain the second updated action phase list.

[0221] It can be seen that through the second update process, it is possible to implement an action phase with a fixed duration termination. When there is no action phase to which it can jump and its own termination time has arrived, it sequentially switches to the next action phase.

[0222] In yet another alternative embodiment, the above-mentioned state switching processing of the action phase list to obtain the second updated action phase list includes:

[0223] S4481. Set the activation state of the p-th action phase in the action phase list to inactive;

[0224] S4482. Judge whether p is equal to the number of action phases in the action phase list to obtain the eighth judgment result;

[0225] When the eighth judgment result is yes, the action phase list remains unchanged;

[0226] When the eighth judgment result is no, set the activation state of the (p + 1)-th action phase in the action phase list to active to obtain the second updated action phase list.

[0227] It can be seen that the above state switching processing ensures that after each action phase ends, it sequentially switches to the next action phase, and after the last action phase ends, sets the activation states of all action phases to inactive, thereby automatically triggering an end signal.

[0228] In yet another alternative embodiment, the above-mentioned task decision-making unit of the formation command entity sub-model of the maritime formation model performs task allocation based on the platform state set and the target situation information, including:

[0229] S51. Initialize the first loop count i to 1;

[0230] S52. Read the i-th cooperation rule in the cooperation rule list stored in the third storage unit of the formation command entity sub-model to obtain the current cooperation rule;

[0231] S53. Judge whether the target situation information meets the cooperation conditions of the current cooperation rule to obtain the first cooperation judgment result;

[0232] When the first cooperation judgment result is yes, set the controlled tactical number to the tactical number of the current cooperation rule; set the available platform set to empty; execute S55;

[0233] When the first cooperation judgment result is no, increment the value of i by 1;

[0234] It should be noted that the above-mentioned target situation information meets a certain cooperation condition, which means that the trajectory type, threat type, motion information, and target information of the target situation information respectively and simultaneously meet the trajectory type set, threat type set, motion restriction information, and position requirement information of the cooperation condition; further, the trajectory type of the target situation information meets the trajectory type set of the cooperation condition, which means that the trajectory type set of the cooperation condition includes the trajectory type of the target situation information; the threat type of the target situation information meets the threat type set of the cooperation condition, which means that the threat type set of the cooperation condition includes the threat type of the target situation information; the motion information of the target situation information meets the motion restriction information of the cooperation condition, which means that the speed value of the motion information is between the minimum speed and the maximum speed of the motion restriction information, and the course angle of the motion information is between the minimum course angle and the maximum course angle of the motion restriction information; the target information of the target situation information meets the position requirement information of the cooperation condition, which means that the distance between the target position in the target information and the reference coordinate in the position requirement information is less than the maximum distance in the position requirement information.

[0235] S54. Repeat S52 - S53 until i is greater than the number of cooperation rules in the cooperation rule list;

[0236] S55. Sequentially determine whether each controlled execution state in the platform state set is "yes" to obtain a second cooperation judgment result;

[0237] When the second cooperation judgment result is "no", add the number of the platform entity sub - model corresponding to the controlled execution state to the available platform set;

[0238] It should be noted that the above - mentioned N platform entity sub - models and the corresponding N platform simulation entity models are numbered in the order from 1 to N;

[0239] When the second cooperation judgment result is "yes", the available platform set remains unchanged;

[0240] S56. Judge whether the available platform set is empty to obtain a third cooperation judgment result;

[0241] When the third cooperation judgment result is "yes", execute S6;

[0242] When the third cooperation judgment result is "no", use the target situation information to screen the available platform set to obtain an execution number;

[0243] S57. Send the controlled tactic number to the platform entity sub - model corresponding to the execution number.

[0244] It can be seen that through steps S51 to S54, the collaborative rule with the highest priority can be preferentially matched, so as to obtain the tactical number that needs to be preferentially executed currently; through steps S55 to S57, it can be ensured that when the platform entity sub-model executes the tactical action corresponding to the controlled tactical number sent before the formation command entity sub-model, it will not be re-assigned tasks. Only the platform entity sub-model that has not executed the tactical action corresponding to the controlled tactical number currently will be assigned a new task, so as to receive a new controlled tactical number.

[0245] In another optional embodiment, the above-mentioned screening process for the available platform set to obtain the execution number includes:

[0246] S561. Search for the target distance corresponding to the platform simulation entity model with each number in the available platform set in the target distance set of the target situation information to obtain the to-be-screened distance set;

[0247] S562. Set the execution number to the number corresponding to the smallest target distance in the to-be-screened distance set.

[0248] It can be seen that through the screening process, it can be ensured that only the platform entity sub-model closest to the target can receive the controlled tactical number, so as to execute the corresponding tactical action, improving the response speed and execution efficiency of the tactical operation.

[0249] In another optional embodiment, the above-mentioned use of the autonomous action decision unit of each platform entity sub-model in the maritime formation model to make autonomous action decisions and update the value of the corresponding controlled execution status includes:

[0250] S61. Judge whether a controlled tactical number is received from the formation command entity sub-model to obtain a first controlled judgment result;

[0251] When the first controlled judgment result is yes, set the value of the corresponding controlled execution status to yes;

[0252] When the first controlled judgment result is no, the corresponding controlled execution status remains unchanged; make an autonomous action decision based on the target situation information; execute S64;

[0253] S62. Search for the tactical action information with the serial number of the tactical number in the tactical action set stored in the corresponding fifth storage unit to obtain the current tactical action information;

[0254] S63. Send the operation parameters of each equipment operation instruction in the current tactical action information to the abstract equipment component with the equipment number corresponding to the equipment operation instruction in the corresponding platform entity sub-model respectively.

[0255] S64. Determine whether execution completion signals sent by all abstract equipment components in the corresponding platform entity sub-model are received, to obtain a second controlled judgment result;

[0256] When the second controlled judgment result is yes, set the value of the controlled execution status to no;

[0257] When the second controlled judgment result is no, the controlled execution status remains unchanged;

[0258] S65. Use the controlled action decision units of N platform entity sub-models to separately execute S61 to S64.

[0259] It can be seen that when the controlled execution status is yes, the platform entity sub-model searches for the built-in tactical action set according to the received controlled tactical number to obtain the tactical action to be executed; when the controlled execution status is no, the platform entity sub-model can combine the current target situation information to make an autonomous decision to determine the tactical action to be executed. With the help of the controlled execution status, unified actions of N platform entity sub-models in the controlled execution state can be realized, and when facing different action scenarios respectively, they can take autonomous actions according to the target situation, so as to cope with complex and changeable simulation scenarios.

[0260] In another optional embodiment, the above-mentioned autonomous action decision is made based on the target situation information;

[0261] S611. Set the current rule number mm to 1;

[0262] S612. Set the current tactical number and the current action condition to the tactical number and action condition of the mm-th autonomous rule in the autonomous rule list stored in the corresponding fourth storage unit;

[0263] S613. Determine whether the target situation information meets the current action condition, to obtain an autonomous action judgment result;

[0264] When the autonomous action judgment result is yes, execute S614;

[0265] When the autonomous action judgment result is no, increment the value of mm by 1; execute S616;

[0266] It should be noted that the above-mentioned target situation information meeting the current action conditions means that the trajectory type, threat type, motion information, and target information of the target situation information respectively and simultaneously meet the trajectory type set, threat type set, motion restriction information, and position requirement information of the current action conditions; further, the trajectory type of the target situation information meeting the trajectory type set of the current action conditions means that the trajectory type set of the current action conditions contains the trajectory type of the target situation information; the threat type of the target situation information meeting the threat type set of the current action conditions means that the threat type set of the current action conditions contains the threat type of the target situation information; the motion information of the target situation information meeting the motion restriction information of the current action conditions means that the speed value of the motion information is between the minimum speed and the maximum speed of the motion restriction information, and the course angle of the motion information is between the minimum course angle and the maximum course angle of the motion restriction information; the target information of the target situation information meeting the position requirement information of the current action conditions means that the distance between the target position in the target information and the reference coordinate in the position requirement information is less than the maximum distance in the position requirement information.

[0267] S614. Search for the tactical action information with the serial number of the current tactical number in the set of tactical actions stored in the corresponding fifth storage unit to obtain the current tactical action information.

[0268] S615. Send the operation parameters of each equipment operation instruction in the current tactical action information to the abstract equipment component with the equipment number corresponding to the serial number of the corresponding equipment operation instruction in the corresponding platform entity sub-model.

[0269] S616. Repeat S612 - S615 until mm is greater than the number of autonomous rules in the corresponding autonomous rule list.

[0270] It can be seen that the above autonomous decision-making process always combines the current target situation information to match the tactical action with the highest priority.

[0271] It can be seen that implementing the maritime formation simulation behavior modeling method described in the embodiments of the present invention can decouple the three simulation logics of phase transition, cooperative action, and autonomous action from the maritime formation model, simplify the simulation process, improve the simulation efficiency, and dynamically determine the simulation process in combination with the changes of the target.

[0272] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative work.

[0273] Through the above specific descriptions of the embodiments, those skilled in the art can clearly understand that each implementation manner can be realized by means of software plus a necessary general hardware platform, and of course, it can also be realized by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, and the storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium capable of carrying or storing data.

[0274] Finally, it should be noted that: what is disclosed in an offshore formation simulation behavior modeling system and method disclosed in an embodiment of the present invention is only a preferred embodiment of the present invention, and is only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A maritime fleet simulation behavior modeling system, characterized in that: Includes model building module and simulation running module; The model building module is data-connected with the simulation operation module and is used to build a maritime formation model; the maritime formation model includes a formation command entity sub-model and N platform entity sub-models; N is an integer greater than 1; The simulation operation module is used to perform simulation based on the maritime formation model and output target situation information.

2. The maritime formation simulation behavior modeling system according to claim 1, characterized in that: The formation command entity sub-model includes a first storage unit, a second storage unit, a third storage unit, a task decision unit and an action phase decision unit; The first storage unit is data-connected to the action stage decision unit and is used to store an action stage list; the action stage list includes a plurality of action stages; the action stage includes a stage name, a stage state, a stage name sequence, a termination type and a termination time; The second storage unit is data-connected to the action stage decision unit and is used to store a stage conversion rule list; the stage conversion rule list includes a plurality of stage conversion rules; the stage conversion rule includes a conversion condition and a target stage name; The third storage unit is data-connected to the task decision unit and is used to store a coordination rule list; the coordination rule list includes a plurality of coordination rules; the coordination rules include coordination conditions and tactical numbers; The task decision unit is connected to the simulation operation module and the N platform entity sub-models data, and is used to perform task allocation based on the target situation information and the controlled execution status output by the platform entity sub-model; The action stage decision unit is used to update the action stage and obtain an action state judgment result.

3. The maritime formation simulation behavior modeling system according to claim 1, characterized in that: The platform entity sub-model includes a fourth storage unit, a fifth storage unit, a plurality of abstract equipment components and an autonomous action decision unit; The four storage units are data-connected to the autonomous action decision unit and are used to store the autonomous rule list; The autonomous rule list includes a plurality of autonomous rules; the autonomous rules include action conditions and tactical numbers; The fifth storage unit is data-connected to the autonomous action decision unit and is used to store a tactical action set; the tactical action set includes a plurality of tactical action information; the tactical action information includes a plurality of equipment operation instructions; the equipment operation instructions include an equipment number and an operation parameter; The abstract equipment component is data-connected with the simulation operation module for equipment control; The autonomous action decision unit is connected to the abstract equipment component and the formation command entity sub-model data, and is used to make autonomous action decisions, as well as initialize and update the controlled execution state.

4. A method for modeling maritime fleet simulation behavior, characterized in that: Applied to the maritime formation simulation behavior modeling system according to any one of claims 1 to 3, the method comprising: S1. Use the model building module to build a maritime formation model; S2. Using a simulation operation module, performing simulation calculation based on the maritime formation model, and outputting target situation information; S3, using the autonomous action decision unit of each platform entity sub-model in the maritime formation model, initializing the corresponding controlled execution state to obtain a platform state set; S4, using the action phase decision unit of the formation command entity sub-model to update the action phase and obtain an action state judgment result; S5, using the task decision unit of the formation command entity sub-model of the maritime formation model to perform task allocation based on the platform state set and the target situation information; S6. Using the autonomous action decision-making unit of each platform entity sub-model in the maritime formation model, make autonomous action decisions and update the corresponding value of the controlled execution state; S7, repeat S2 to S6 until the action status judgment result is yes.

5. The method for modeling maritime fleet simulation behavior according to claim 4, characterized in that: The method of using the model building module to build a maritime formation model includes: S11, obtaining action plan information; the action plan information includes an action phase list, a phase transition rule list, a collaborative rule list, and N autonomous rule lists; S12, creating a formation command entity sub-model by using the action phase list, the phase conversion rule list and the coordination rule list; S13, using the N autonomous rule lists, creating N initial platform entity sub-models; the initial platform entity sub-models include the second storage component; S14, performing assembly processing on each of the initial platform entity sub-models to obtain the corresponding platform entity sub-model; S15. Combining the formation command entity sub-model and the N platform entity sub-models to obtain the maritime formation model.

6. The method for modeling maritime fleet simulation behavior according to claim 4, characterized in that: The step of utilizing the action phase decision unit of the formation command entity sub-model to update the action phase and obtain an action state judgment result includes: S41, initializing the name sequence of the initial stage to be empty; S42, judging in turn whether the target situation information satisfies the conversion condition of each stage conversion rule in the stage conversion rule list stored in the second storage unit of the formation command entity sub-model, and obtaining a first judgment result; When the first judgment result is yes, adding the target phase name of the corresponding phase conversion rule to the initial phase name sequence; When the first judgment result is no, the initial stage name sequence remains unchanged; S43, setting the current stage name sequence to a stage name sequence corresponding to an activated stage status in the action stage list stored in the first storage unit of the formation command entity sub-model; S44, judging whether the name sequence in the initial stage is empty, and obtaining a second judgment result; When the second judgment result is no, performing a first update process on the action stage list by using the current stage name sequence and the initial stage name sequence to obtain the action stage list after the first update process; When the second judgment result is yes, performing a second update process on the action stage list to obtain the action stage list after the second update process; S45. It is determined whether there is an action stage with an activated stage status in the action stage list, and an action status determination result is obtained.

7. The method for modeling maritime fleet simulation behavior according to claim 6, characterized in that: The step of performing a first update process on the action stage list by using the current stage name sequence and the initial stage name sequence to obtain the action stage list after the first update process comprises: S441, using the current stage name sequence, performing priority matching processing on the initial stage name sequence to obtain the target stage name; S442, judging in turn whether each stage name in the action stage list is the same as the target stage name, to obtain a third judgment result; When the third judgment result is yes, setting the corresponding stage state to activated; When the third judgment result is no, the corresponding stage state is set to inactivated.

8. The method for modeling maritime fleet simulation behavior according to claim 6, characterized in that: The performing a second update process on the action stage list to obtain the action stage list after the second update process comprises: S443, setting the current sequence number p to the sequence number of the action stage in the action stage list, the corresponding stage status of which is activated; S444, setting the current termination type to the termination type of the pth action stage in the action stage list; S445, judging whether the value of the termination type is 1, and obtaining a sixth judgment result; When the sixth judgment result is yes, execute S446; When the sixth judgment result is no, the action stage list remains unchanged; executing S5; S446, obtaining the current time; S447, setting the current end time as the end time of the pth action stage in the action stage list; S448, judging whether the current time is earlier than the current end time, and obtaining a seventh judgment result; When the seventh determination result is earlier than, the action stage list remains unchanged; When the seventh judgment result is not earlier than, a state switching process is performed on the action stage list to obtain the action stage list after the second update process.

9. The method for modeling maritime fleet simulation behavior according to claim 4, characterized in that: The task decision unit utilizing the formation command entity sub-model of the maritime formation model performs task allocation based on the platform state set and the target situation information, including: S51, initializing the first loop number i to 1; S52, reading the third storage unit of the formation command entity sub-model, the ith coordination rule in the coordination rule list stored, and obtaining the current coordination rule; S53, judging whether the target situation information satisfies the coordination condition of the current coordination rule, and obtaining a first coordination judgment result; When the first collaborative judgment result is yes, the controlled tactic number is set to the tactic number of the current collaborative rule; the available platform set is set to empty; and S55 is executed; When the first collaborative judgment result is no, the value of i is increased by 1; S54, repeat S52 to S53 until i is greater than the number of the coordination rules in the coordination rule list; S55, sequentially determining whether each of the controlled execution states in the platform state set is yes, and obtaining a second collaborative determination result; When the result of the second collaborative judgment is no, adding the number of the platform entity sub-model corresponding to the controlled execution state to the available platform set; When the second collaborative determination result is yes, the available platform set remains unchanged; S56, judging whether the available platform set is empty, and obtaining a third collaborative judgment result; When the third collaborative judgment result is yes, executing S6; When the third collaborative judgment result is no, the available platform set is screened using the target situation information to obtain an execution number; S57. Send the controlled tactic number to the platform entity sub-model corresponding to the execution number.

10. The method for modeling maritime fleet simulation behavior according to claim 4, characterized in that: The autonomous action decision unit of each platform entity sub-model in the maritime formation model is used to make an autonomous action decision and update the corresponding value of the controlled execution state, including: S61, determining whether the controlled tactical number is received from the formation command entity sub-model, and obtaining a first controlled determination result; When the first controlled judgment result is yes, setting the corresponding value of the controlled execution state to yes; When the first controlled judgment result is no, the corresponding controlled execution state remains unchanged; based on the target situation information, an autonomous action decision is made; and S64 is executed; S62, searching for tactical action information with a sequence number equal to the current tactical number in the tactical action set stored in the corresponding fifth storage unit, to obtain current tactical action information; S63, sending the operation parameters of each equipment operation instruction in the current tactical action information to the corresponding abstract equipment component in the platform entity sub-model whose serial number is the equipment number of the corresponding equipment operation instruction; S64, determining whether execution completion signals sent by all the abstract equipment components in the corresponding platform entity sub-model are received, and obtaining a second controlled determination result; When the second controlled judgment result is yes, setting the value of the controlled execution state to no; When the second controlled judgment result is no, the controlled execution state remains unchanged; S65. Utilize the controlled action decision units of the N platform entity sub-models to respectively execute S61 to S64.

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