Attack and defense simulation method and device of power system and electronic equipment

Abstract

The invention discloses an attack and defense simulation method and device for a power system and electronic equipment, and the method comprises the steps: constructing a three-dimensional simulation scene corresponding to the power system, and determining a target power transmission line model in all power transmission line models of the three-dimensional simulation scene; adding an unmanned aerial vehicle model in a preset range of the three-dimensional simulation scene, and determining an azimuth angle and spatio-temporal trajectory data of the unmanned aerial vehicle model flying towards the target power transmission line model according to the initial coordinate of the unmanned aerial vehicle model and the central point coordinate of the target power transmission line model; when the unmanned aerial vehicle model is controlled to fly above the target power transmission line model according to the azimuth angle and the spatial-temporal trajectory data, simulating the operation of projecting an attack instrument model by using the unmanned aerial vehicle model and attacking the target power transmission line model through the attack instrument model; and a three-dimensional simulation scene of the power system attacked by the attack instrument model is obtained, so that a user can intuitively and stereoscopically obtain an attack and defense simulation process of the power system.

Description

Technical Field

[0001] The present invention relates to the technical field of power network security, and in particular to an attack and defense simulation method, device and electronic equipment for a power system. Background Art

[0002] The power system, a system that connects various electrical devices that generate, transmit, distribute, and consume electricity, is subject to frequent power outages due to both internal and external factors. External factors can include cyberattacks and attacks by attack devices, with attack devices being more direct and destructive to the power system.

[0003] At present, in order to study the effect of attacking the power system using attacking devices, the process of attacking and defending the power system using the attacking device model is usually simulated through a two-dimensional simulation method.

[0004] However, the two-dimensional simulation method cannot intuitively and three-dimensionally show users the process of attack and defense simulation of the power system using attack device models, making it difficult for users to clearly understand the specific process and impact range of the attack and defense simulation, which is not conducive to users forming a concrete understanding of the attack scenario. Summary of the Invention

[0005] The present invention provides an attack and defense simulation method, device and electronic equipment for an electric power system, which can realize three-dimensional attack and defense simulation of the electric power system, making it convenient for users to obtain the attack and defense simulation process of the electric power system intuitively and three-dimensionally.

[0006] In a first aspect, an embodiment of the present invention provides an attack and defense simulation method for an electric power system, the method comprising: constructing a three-dimensional simulation scene corresponding to the electric power system based on each network node in the electric power system and the transmission lines between each network node, and determining a target transmission line model in each transmission line model in the three-dimensional simulation scene; adding a drone model within a preset range of the three-dimensional simulation scene, and determining the azimuth and space-time trajectory data of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the center point coordinates of the target transmission line model; when controlling the drone model to fly above the target transmission line model based on the azimuth and space-time trajectory data, simulating the operation of using the drone model to project an attack device model and attacking the target transmission line model through the attack device model, and obtaining a three-dimensional simulation scene of the electric power system after being attacked by the attack device model.

[0007] In the second aspect, an embodiment of the present invention also provides an attack and defense simulation device for an electric power system, which includes: a target line determination module, which is used to construct a three-dimensional simulation scene corresponding to the electric power system based on each network node in the electric power system and the transmission lines between each network node, and determine the target transmission line model among each transmission line model in the three-dimensional simulation scene; a route planning module, which is used to add a drone model within a preset range of the three-dimensional simulation scene, and determine the azimuth and space-time trajectory data of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the center point coordinates of the target transmission line model; an attack simulation module, which is used to control the drone model to fly above the target transmission line model based on the azimuth and space-time trajectory data, and simulate the operation of using the drone model to project an attack device model and attack the target transmission line model through the attack device model, so as to obtain a three-dimensional simulation scene of the electric power system after being attacked by the attack device model.

[0008] In a third aspect, an embodiment of the present invention further provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the attack and defense simulation method for the power system provided in any embodiment of the present invention.

[0009] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement the attack and defense simulation method of the power system provided by any embodiment of the present invention when executed.

[0010] The technical solution provided by the embodiment of the present invention, after constructing a three-dimensional simulation scene corresponding to the power system, flies a drone model above the target transmission line model, uses the drone model to project an attack device model, and simulates the operation of attacking the target transmission line through the attack device model. This avoids the situation in which the existing technology uses two-dimensional simulation to simulate the attack and defense of the power system, and is unable to display the attack and defense simulation process to the user intuitively and three-dimensionally. It can realize three-dimensional attack and defense simulation of the power system, so that the user can intuitively and three-dimensionally obtain the attack and defense simulation process of the power system.

[0011] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 This is a flow chart of an attack and defense simulation method for a power system provided according to the first embodiment of the present invention;

[0014] Figure 2 is a flow chart of another attack and defense simulation method for a power system provided according to a second embodiment of the present invention;

[0015] Figure 3 2 is a schematic structural diagram of an attack and defense simulation system provided according to an embodiment of the present invention;

[0016] Figure 4 This is a flow chart of a method for simulating an attack on a power system without protection enabled using an attack device model according to an embodiment of the present invention;

[0017] Figure 5 This is a flow chart of a method for performing attack and defense simulation on a power system with pre-buried underground protection lines enabled using an attack device model according to an embodiment of the present invention;

[0018] Figure 6 This is a flow chart of a method for performing attack and defense simulation on a power system with radar and microwave beam protection enabled using an attack device model according to an embodiment of the present invention;

[0019] Figure 7 This is a flow chart of a method for performing attack and defense simulation on a power system with insulation coating protection enabled using an attack device model, provided according to an embodiment of the present invention;

[0020] Figure 8 This is a flow chart of a method for performing attack and defense simulation on a power system with a protective net guard turned on using an attack device model provided by an embodiment of the present invention;

[0021] Figure 9 This is a flow chart of an attack and defense result analysis method provided according to an embodiment of the present invention;

[0022] Figure 10 This is a schematic diagram of the structure of an attack and defense simulation device for a power system provided according to a third embodiment of the present invention;

[0023] Figure 11 It is a structural diagram of an electronic device provided by the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Example 1

[0027] Figure 1 This is a flowchart of an attack and defense simulation method for an electric power system provided according to a first embodiment of the present invention. This embodiment is applicable to situations where attack and defense simulation is performed on an electric power system. The method can be executed by an attack and defense simulation device for an electric power system. The attack and defense simulation device for an electric power system can be implemented in the form of hardware and / or software. The attack and defense simulation device for an electric power system can be configured in an electronic device such as a computer.

[0028] like Figure 1 As shown, this embodiment discloses an attack and defense simulation method for a power system, including:

[0029] S110 , constructing a three-dimensional simulation scene corresponding to the power system according to each network node in the power system and the transmission lines between each network node, and determining a target transmission line model among each transmission line model in the three-dimensional simulation scene.

[0030] In this embodiment, network nodes can be understood as facilities in the power system used for power generation, transmission, transformation, distribution, or delivery, such as power plants and transformer stations. A three-dimensional simulation scenario can be understood as a simulation scenario that includes the entire process of power generation, transmission, transformation, distribution, and delivery.

[0031] Specifically, in this step, after obtaining geographic imagery information and a digital elevation model corresponding to the power system, each network node in the power system and the transmission lines between each network node can be determined based on the power system's network topology. Network node models corresponding to each network node and transmission line models corresponding to each transmission line can also be obtained. The geographic imagery information can be obtained using global satellite imagery. A digital twin model corresponding to the power system can then be constructed based on the geographic imagery information, digital elevation model, network node model, and transmission line model. Parameters can then be set for each network node and each transmission line, and the digital twin model can be updated based on the parameter setting results, resulting in a three-dimensional simulation scene corresponding to the power system. The network nodes can have a variety of configurable parameters, such as voltage level and load characteristics; the transmission lines can also have a variety of configurable parameters, such as line length, conductor type, resistance, and reactance. Finally, a target transmission line model can be determined based on the betweenness of each transmission line model in the three-dimensional simulation scene. For example, a preset number of transmission line models with the highest betweenness can be used as the target transmission line model.

[0032] The advantage of this setup is that by simulating the entire process of power generation, transmission, transformation, distribution, and delivery, the interrelationships and impacts of various power links under attack by attacking devices can be intuitively reflected, allowing users to fully understand the attack process and impact of the attacking device model on the power system.

[0033] S120. Add a drone model within a preset range of the three-dimensional simulation scene, and determine the azimuth and spatiotemporal trajectory data of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the center point coordinates of the target transmission line model.

[0034] In this embodiment, the spatiotemporal trajectory data may include the locations that the drone model needs to pass through when flying toward the target transmission line model, as well as the time when the drone model passes through each location point. The drone model can be understood as a flyable model that can carry an attack device model.

[0035] Specifically, in this step, a predicted flight trajectory of the drone model toward the target transmission line model can be constructed based on the initial coordinates of the drone model and the coordinates of the center point of the target transmission line model. Multiple discrete points can then be obtained from the predicted flight trajectory. Multiple azimuth angles of the drone model's flight toward the target transmission line model can then be determined based on each pair of adjacent discrete points. Based on the distance between each pair of discrete points, the predicted flight trajectory of the drone model toward the target transmission line model, and the total flight duration, the spatiotemporal trajectory data of the drone model's flight toward the target transmission line model can be determined.

[0036] Optionally, the azimuth angle and spatiotemporal trajectory data of the UAV model flying toward the target transmission line model are determined based on the initial coordinates of the UAV model and the coordinates of the center point of the target transmission line model, including: obtaining the initial coordinates of the UAV model in a rectangular coordinate system and the coordinates of the center point of the target transmission line model in the rectangular coordinate system; converting the initial coordinates of the UAV model in the rectangular coordinate system into initial coordinates in a geodetic coordinate system, and converting the coordinates of the center point of the target transmission line model in the rectangular coordinate system into the coordinates of the center point of the geodetic coordinate system; and determining the azimuth angle and spatiotemporal trajectory data of the UAV model flying toward the target transmission line model based on the initial coordinates of the UAV model in the geodetic coordinate system and the coordinates of the center point of the target transmission line model in the geodetic coordinate system. The rectangular coordinate system can be understood as a coordinate system that uses horizontal coordinates, vertical coordinates, and vertical coordinates to describe the position of the UAV model in a three-dimensional simulation scene, such as a Cartesian coordinate system. The geodetic coordinate system can be understood as a coordinate system that uses latitude, longitude and geodetic height to describe the position of the UAV model in the three-dimensional simulation scene, such as the World Geodetic System-1984 Coordinate System (WGS-84 coordinate system).

[0037] Specifically, the initial coordinates of the UAV model in the geodetic coordinate system and the coordinates of the center point of the target transmission line model in the geodetic coordinate system can be compensated for elevation, and the azimuth and spatiotemporal trajectory data of the UAV model flying toward the target transmission line model can be determined based on the initial coordinates and center point coordinates after elevation compensation. Optionally, after the initial coordinates of the UAV model in the geodetic coordinate system and the coordinates of the center point of the target transmission line model in the geodetic coordinate system are compensated for elevation, the initial coordinates and center coordinates after elevation compensation can be verified using a free network adjustment method, a strict adjustment method, or a constraint condition method, and any initial coordinates and / or center coordinates that are incorrect in the verification can be corrected.

[0038] The advantage of this setting is that by performing geographic coordinate conversion and elevation compensation on the initial coordinates of the UAV model and the center point coordinates of the target transmission line model, the influence of factors such as the earth's curvature and terrain undulations on the coordinates is fully considered. This can accurately determine the initial coordinates of the UAV model and the center point coordinates of the target transmission line model, providing a basis for the subsequent accurate use of the attack device model for attack simulation.

[0039] S130. When the drone model is controlled to fly above the target transmission line model based on the azimuth and spatiotemporal trajectory data, the operation of using the drone model to project the attack device model and attacking the target transmission line model through the attack device model is simulated to obtain a three-dimensional simulation scene of the power system after being attacked by the attack device model.

[0040] In this embodiment, the attack device model can be understood as a model of an attack device used to attack the power system, such as a graphite bomb model.

[0041] In this step, specifically, when the drone model flies to a preset position directly above the target transmission line model, a launch timer is started, so that the drone model pauses at the preset position directly above the target transmission line model for a preset dwell time. When the drone model pauses at the preset position directly above the target transmission line model, a predefined light model is loaded to highlight the moment when the drone model is about to project the attack device model by adding a flashing light effect to the drone model, thereby enhancing the user's visual perception and interactive experience. Then, when the pause time of the drone model at the preset position directly above the target transmission line model reaches the preset dwell time, the three-dimensional model file of the attack device model can be retrieved from the pre-stored model resource library, and the attack device model can be rendered into the view where the three-dimensional simulation scene is located according to the above-mentioned three-dimensional model file through the 3D drawing protocol (Web Graphics Library, WebGL) technology. Among them, the initial position of the attack device model is the current position of the drone model.

[0042] After rendering the attack device model to the view containing the 3D simulation scene, initial physical properties, such as mass and gravity coefficient, can be added to the attack device model to ensure that the attack device model conforms to the actual physical laws of motion. After adding the initial physical properties to the attack device model, the attack device model can be separated from the drone model, allowing the attack device model to begin free fall. During the free fall of the attack device model, the fall distance of the attack device model is monitored in real time. When the fall distance of the attack device model reaches a preset proportion of the total expected fall distance, the attack device model is replaced with a preset number of parachute container models. The preset total fall distance is the distance between the initial position of the attack device model and the ground where the target transmission line model is located. The parachute container model can be understood as a container model with a parachute.

[0043] After replacing the attack device model with a preset number of parachute container models, the parachute container models are controlled to fall from three different spatial positions: top, middle, and bottom, according to a preset distribution rule. When the parachute container model's fall distance reaches a preset proportion of the total expected fall distance, the parachute container model's explosion effect is simulated to produce a large number of graphite fiber models, and the parachute container model is simultaneously removed from the view containing the 3D simulation scene. The preset proportion can be set based on historical experience, such as 1 / 3. When simulating the parachute container model's explosion effect to produce a large number of graphite fiber models, to simulate the attack effect of the graphite fiber models, images of the graphite fibers are loaded as particle appearances, and parameters such as length and gravity are set for the graphite fiber models. After setting the graphite fiber model's length and gravity parameters, the displayed length of the graphite fibers in the view containing the 3D simulation scene is updated based on the graphite fiber model's length parameter. The graphite fiber model's gravity parameter is used as an input parameter for a predefined gravity application function to determine the uniform falling trajectory of the graphite fiber model under the action of gravity.

[0044] When the graphite fiber model falls at a constant speed, a collision detection algorithm is used to detect whether the graphite fiber model is in contact with the target transmission line model. When contact between the graphite fiber model and the target transmission line model is detected, the color of the target transmission line model is changed, for example, the color of the target transmission line model is changed from orange to black, so as to intuitively simulate the visual effect of the graphite fiber attached to the target transmission line. Optionally, in order to make the color change of the target transmission line model more natural, a gradual transition method can be used to gradually complete the color conversion within a preset gradient time, thereby avoiding abrupt visual changes in the target transmission line model. The preset gradient time can be set according to user needs, for example, 5 seconds.

[0045] While the color of the target transmission line model is changing, an attached timer can be used to determine whether the graphite fiber model and the target transmission line model have reached a preset contact time. The preset contact time can be set according to user requirements, for example, 3 seconds. When it is determined that the graphite fiber model and the target transmission line model have reached the preset contact time, a short-circuit effect on the target transmission line model is simulated. Specifically, the displayed image of the target transmission line model can be replaced with a dynamic image of lightning. To achieve a realistic visual effect of a short circuit, the width of the target transmission line model can be expanded by a preset multiple, and the background of the dynamic lightning image can be set to transparent to blend the lightning with the target transmission line. Optionally, while the short-circuit effect on the target transmission line model is being simulated, a pre-defined short-circuit sound effect can be automatically played. This creates a strong visual and auditory impression of the short circuit for the user, allowing the user to deeply feel the severe damage caused by the attacking device model to the target transmission line model. The short-circuit sound effect can include the roar of electricity and the sound of explosions.

[0046] After simulating the short-circuit effect of the target transmission line model, the PV power station's monitoring system can monitor the target transmission line model's oscillation value in real time. When the target transmission line model's oscillation value exceeds a preset oscillation threshold, the PV power station's electrical connection to the target transmission line model is severed to protect the PV power station from short-circuit current damage. Furthermore, since load nodes connected to the target transmission line model will experience an immediate power outage if power is lost, the status icons of these load node models can be changed within the 3D simulation scene view to visually display the load node's power outage. Furthermore, the power distribution and voltage level parameters of the entire power system can be recalculated. Using the recalculated power distribution and voltage level parameters, a power system analysis algorithm can be used to assess the scope and extent of the attack device model's impact on the power system. These recalculated power distribution and voltage level parameters, as well as the scope and extent of the attack device model's impact on the power system, are then pushed to the user via the 3D simulation scene view, providing comprehensive visualization of the attack's impact.

[0047] Optionally, when showing the user a drone model flying over a target power transmission line model, projecting an attack device model, and then attacking the target power transmission line model through the attack device model, the user can be provided with a playback speed adjustment option and a playback pause option. There can be multiple playback speed adjustment options, such as 0.5x, 1x, 2x, and 4x. Then, when the user chooses to accelerate the playback of the 3D simulation animation, the playback speed of the 3D simulation animation can be increased according to the clock control, allowing the user to quickly browse the entire attack process; when the user chooses to slow down or pause the playback of the 3D simulation animation, the playback speed of the 3D simulation animation can be slowed down or paused, allowing the user to carefully observe the specific details of a key link in the attack process.

[0048] The technical solution of this embodiment is to construct a three-dimensional simulation scene corresponding to the power system based on each network node in the power system and the transmission lines between each network node, and determine the target transmission line model in each transmission line model in the three-dimensional simulation scene; add a drone model within a preset range of the three-dimensional simulation scene, and determine the azimuth and spatiotemporal trajectory data of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the center point coordinates of the target transmission line model; when controlling the drone model to fly above the target transmission line model based on the azimuth and spatiotemporal trajectory data, simulate the operation of using the drone model to project an attack device model and attack the target transmission line through the attack device model to obtain a three-dimensional simulation scene of the power system after being attacked by the attack device model. This technical solution solves the problem that the existing technology uses two-dimensional simulation to perform attack and defense simulation of the power system and cannot intuitively and three-dimensionally display the attack and defense simulation process to the user. It can realize three-dimensional attack and defense simulation of the power system, making it convenient for the user to intuitively and three-dimensionally obtain the attack and defense simulation process of the power system.

[0049] Example 2

[0050] Figure 2 This is a flowchart of another attack and defense simulation method for a power system provided according to the second embodiment of the present invention. This embodiment is a further optimization and expansion based on the above embodiments, and can be combined with various optional technical solutions in the above implementation methods.

[0051] like Figure 2 As shown, this embodiment discloses an attack and defense simulation method for a power system, including:

[0052] S210 : Construct a three-dimensional simulation scene corresponding to the power system based on each network node in the power system and the transmission lines between the network nodes.

[0053] Specifically, after constructing a 3D simulation scene corresponding to the power system, a gradual transition can be performed on the 3D simulation scene to achieve a 3D transition from the digital earth to the power system scene. Simultaneously, the user is presented with optional defense solutions. These include pre-buried underground treatment for critical transmission lines, insulation coating protection, protective mesh, and radar and microwave beam protection.

[0054] S220: Determine a target transmission line model among the transmission line models in the three-dimensional simulation scene, and add a drone model within a preset range of the three-dimensional simulation scene.

[0055] Specifically, in this step, after receiving the selected defense plan and determining the target transmission line model among the transmission line models in the three-dimensional simulation scene, the remaining drone models and attack equipment models in the three-dimensional simulation scene can be cleared. Then, the color of the transmission line model in the three-dimensional simulation scene can be changed to the initial color, and the target transmission line model can be highlighted. The initial color of the transmission line model can be set according to user needs, such as orange. There are various ways to highlight the target transmission line model, such as bolding and changing the color. After highlighting the target transmission line model, a drone model can be added within a preset range of the three-dimensional simulation scene.

[0056] Optionally, when the selected defense plan is pre-buried underground processing of important transmission lines, after determining the target transmission line model in each transmission line model in the three-dimensional simulation scene, it can also include: calculating the subtraction result of the current elevation of the target transmission line model and the preset height to obtain the updated elevation of the target transmission line model, and modifying the current elevation of the target transmission line model to the updated elevation; obtaining the connected transmission line model connected to the target transmission line model, and the endpoint to be processed on the connected transmission line model connected to the target transmission line model; calculating the subtraction result of the current elevation of the endpoint to be processed and the preset height to obtain the changed elevation of the endpoint to be processed, and modifying the current elevation of the endpoint to be processed to the changed elevation; obtaining the target tower node in the target network node connected to the target transmission line model, and deleting the target tower node in the three-dimensional simulation scene.

[0057] The preset height may be set based on historical experience, such as 10 meters.

[0058] The benefit of this setup is that, after modifying the current elevation of the target transmission line model to the subtraction of the current elevation of the target transmission line model and the preset height, the current elevation of the pending endpoint of the connected transmission line model is modified to the subtraction of the current elevation of the pending endpoint and the preset height. This prevents the target transmission line model from being misaligned or disconnected from the target transmission line model. Secondly, by deleting the target tower node connected to the target transmission line model, the scene of the target transmission line being buried underground without the need for ground tower support can be intuitively presented, while avoiding the visual interference and logical conflicts caused by the remaining tower nodes.

[0059] Optionally, when the selected defense scheme is insulating coating protection, after determining the target transmission line model among the transmission line models in the three-dimensional simulation scene, it may also include: changing the color of the target transmission line model to the insulating coating color, and expanding the width of the target transmission line model to a first preset multiple to simulate the effect of adding an insulating coating to the target transmission line model.

[0060] The first preset multiple can be set according to historical experience, for example, 3 times.

[0061] Optionally, when the selected defense scheme is protective mesh protection, after determining the target transmission line model among the transmission line models in the three-dimensional simulation scene, the following steps may be performed: obtaining a transmission line model with a protective mesh added, and replacing the target transmission line model with the transmission line model with the protective mesh added; obtaining a grounding point in the three-dimensional simulation scene for connection to the protective mesh, and connecting the transmission line model with the protective mesh added to the grounding point to simulate the effect of adding a protective mesh to the target transmission line model. Specifically, the transmission line model with the protective mesh added may be obtained after modifying the color and expanding the width of the target transmission line model.

[0062] S230: Constructing a predicted flight trajectory of the UAV model toward the target transmission line model based on the initial coordinates of the UAV model and the center point coordinates of the target transmission line model.

[0063] In this embodiment, the expected flight trajectory can be understood as a straight line segment from the initial coordinates of the UAV model to the coordinates of the center point of the target transmission line model.

[0064] S240: Evenly divide the expected flight trajectory to obtain multiple path coordinate points, and determine multiple azimuth angles of the UAV model flying toward the target transmission line model based on every two adjacent path coordinate points.

[0065] In this embodiment, the passing coordinate points can be understood as three-dimensional coordinate points in the expected flight trajectory.

[0066] In this step, the predicted flight trajectory can be evenly divided according to the number of preset points to obtain multiple path coordinate points. For example, the predicted flight trajectory can be evenly divided into 100 path coordinate points. Then, based on the principle of spatial vector calculation, multiple azimuth angles of the drone model's flight toward the target transmission line model can be determined based on every two adjacent path coordinate points.

[0067] S250: Determine the estimated time for the UAV model to pass through each path coordinate point based on the actual time when the UAV model is at the initial position, and the estimated flight trajectory and total flight time of the UAV model flying toward the target transmission line model.

[0068] In this step, the estimated flight time required for the UAV model to reach each of the path coordinate points from the initial position can be determined based on the number of path coordinate points, the estimated flight trajectory of the UAV model toward the target transmission line model, and the total flight time. Then, the estimated time for the UAV model to pass through each path coordinate point can be determined based on the actual time at the initial position of the UAV model and the estimated flight time required for the UAV model to reach each path coordinate point from the initial position.

[0069] Optionally, the estimated time for the drone model to pass each path coordinate point is determined based on the actual time when the drone model is at the initial position, and the estimated flight trajectory and total flight time of the drone model flying toward the target transmission line model, including: determining the total flight time of the drone model flying toward the target transmission line model based on the total length of the initial aircraft trajectory and the preset flight speed of the drone model; evenly dividing the total flight time of the drone model according to the number of path coordinate points to obtain the estimated flight time required for the drone model to reach each path coordinate point from the initial position; determining the estimated time for the drone model to pass each path coordinate point based on the actual time when the drone model is at the initial position, and the estimated flight time required for the drone model to reach each path coordinate point from the initial position.

[0070] Specifically, the total length of the initial aircraft trajectory divided by the preset flight speed of the drone model can be calculated to obtain the total flight time of the drone model flying towards the target transmission line model. Then, the total flight time of the drone model divided by the number of path coordinate points can be calculated to obtain the time interval required for the drone model to fly between each two path coordinate points. After that, the estimated flight time required for the drone model to reach each path coordinate point from the initial position can be determined based on the order of appearance of each path coordinate point in the initial flight trajectory and the time interval required for the drone model to fly between each two path coordinate points. Finally, the actual time of the drone model at the initial position and the sum of each estimated flight time can be calculated separately to obtain the estimated time for the drone model to pass each path coordinate point.

[0071] S260: Each coordinate point of the predicted route of the UAV model and the predicted time corresponding to each coordinate point are used as the spatiotemporal trajectory data of the UAV model.

[0072] In an actual programming environment, the spatiotemporal trajectory data can be sequentially filled into the location attribute variables according to the sample addition function, and the format and integrity checks of the spatiotemporal trajectory data can be performed during the filling process to ensure that the route coordinate points and the estimated time correspond one to one.

[0073] S270. When the drone model is controlled to fly above the target transmission line model based on the azimuth and spatiotemporal trajectory data, the operation of using the drone model to project the attack device model and attacking the target transmission line model through the attack device model is simulated to obtain a three-dimensional simulation scene of the power system after being attacked by the attack device model.

[0074] Specifically, in this step, if the user has not selected a defense solution, a simulation can be performed in which the target transmission line model is attacked by an attack device model, resulting in a short circuit in the target transmission line model and a power outage in component models associated with the target transmission line model. If the selected defense solution is pre-buried important transmission lines, a simulation can be performed in which a graphite fiber model falls to the ground instead of onto the target transmission line model, leaving the target transmission line model unaffected. This unaffected state can be indicated to the user by maintaining the target transmission line model's initial color.

[0075] When the selected defense scheme is insulation coating protection, the effect of the target transmission line model being attacked by the attack device model under insulation coating protection can be simulated. Specifically, when the graphite fiber model is detected to be in contact with the target transmission line model, the color of the target transmission line model can be changed to the attack color. Based on the material and thickness of the insulation coating, the effect of the graphite fiber model attaching to the target transmission line model can be determined, and the effect of the target transmission line model being attached to the graphite fiber model can be rendered in the view of the 3D simulation scene.

[0076] When the selected defense scheme is protection by a protective mesh, the effect can be simulated in which the attacking device model attacks the target transmission line model, causing the target transmission line model to change color, but the target transmission line model is not substantially affected because a protective mesh is installed for the target transmission line model. Specifically, when it is detected that the graphite fiber model contacts the transmission line model with the added protective mesh, the color of the transmission line model with the added protective mesh is changed to the attacked color to simulate the effect of the graphite fiber model being attached to the transmission line model with the added protective mesh. The attacked color can be set based on historical experience, such as black. Furthermore, in order to simulate the effect that the target transmission line model is protected by the protective mesh and is not substantially affected, the grounding connection between the transmission line model with the added protective mesh and the grounding point can be highlighted to simulate the effect that the charge is effectively introduced into the earth so that the target transmission line is not actually affected.

[0077] Optionally, the 3D simulation process data can be recorded while the user is shown the drone model flying to the target transmission line model, projecting the attack device model above it, and then attacking the target transmission line model through the attack device model. Specifically, the drone model can record each coordinate point it passes through as it flies to the target transmission line model, as well as the time it takes to reach each coordinate point and the flight speed. The attack device model's release time, state changes during its descent, explosion time, and location data can also be recorded. Changes in the target transmission line model's electrical parameters before and after the attack, the location and time of attachment of the graphite fiber model, the time when a short circuit occurs, and the duration of the short circuit can also be recorded. Data such as the power flow and voltage change curves of each transmission line model in the 3D simulation scene can also be recorded. The electrical parameters of the target transmission line model can include voltage, current, and power.

[0078] Furthermore, after recording the three-dimensional simulation process data, detailed information of the affected load nodes in the three-dimensional simulation scene can be determined based on the three-dimensional simulation process data, and functional loss assessment data can be determined based on the detailed information of the affected load nodes. The detailed information of the affected load nodes can be used to analyze the power outage situation of the affected load nodes and the scope of impact on the surrounding power supply. The detailed information of the affected load nodes may include the name, location, load size and power outage time of the affected load nodes. The functional loss assessment data can be used to assess the degree of functional damage to the power system in various links such as power generation, transmission, transformation and distribution due to the attack. The functional loss assessment data may include the scope of the power outage area, the proportion of power supply reduction and the number of affected users.

[0079] Then, based on the detailed information and functional loss assessment data of the affected load nodes, combined with the power system's repair mechanism and resource allocation, repair time assessment data can be determined. This repair time assessment data can include the extent of line damage and the estimated repair time based on the difficulty of repair.

[0080] Subsequently, attack result analysis data and defense effectiveness assessment data can be determined based on the detailed information of the affected load nodes, functional loss assessment data, and repair time assessment data. The attack result analysis data can include damaged lines and the extent of damage to the damaged lines. Finally, the 3D simulation process data, detailed information of the affected load nodes, functional loss assessment data, repair time assessment data, attack result analysis data, and defense effectiveness assessment data can be organized according to a preset data structure and format, and the organized results can be stored in a preset database.

[0081] Furthermore, when a three-dimensional simulation scene of the power system after being attacked by the attack device model is obtained, or when the attack and defense simulation process of the power system is manually terminated by the user, a prompt indicating the end of the simulation can be displayed in the view containing the three-dimensional simulation scene through a pop-up window or text prompt, and the user can be provided with an option to output a simulation report. Then, when the user selects the simulation report output option, detailed information on the affected load nodes corresponding to the power system, functional loss assessment data, repair time assessment data, attack result analysis data, and defense effectiveness assessment data can be obtained from a preset database. Thereafter, a simulation result report containing visual charts can be generated and fed back to the user in accordance with a preset report format based on the detailed information on the affected load nodes corresponding to the power system, functional loss assessment data, repair time assessment data, attack result analysis data, and defense effectiveness assessment data, so that the user can intuitively and comprehensively obtain the attack and defense simulation results of the power system. The visual charts can include bar charts and line charts, etc.

[0082] Optionally, when radar and microwave beam protection is the selected defense solution, the method further includes: while controlling the drone model to fly above the target transmission line model based on the azimuth and spatiotemporal trajectory data, monitoring whether the drone model exists within the radar monitoring range corresponding to the power system; if the drone model is detected within the radar monitoring range, simulating a microwave beam attack on the drone model; and simulating the effect of the drone model being attacked by the microwave beam and falling before it reaches the target transmission line model. The radar monitoring range can be determined based on historical experience, for example, 5 kilometers near the power system.

[0083] Specifically, a pre-set radar monitoring timer can be used to cyclically monitor whether there is a drone model within the radar monitoring range corresponding to the power system. If a suspected drone target is detected, information such as the position and speed of the suspected drone target is obtained, and based on the information such as the position and speed of the suspected drone target, it is determined whether the suspected drone target is a drone model. When it is determined that the suspected drone target is not a drone model, or when the suspected drone target is not detected, the operation of cyclically monitoring whether there is a drone model within the radar monitoring range corresponding to the power system through a pre-set radar monitoring timer is returned. When it is determined that the suspected drone target is a drone model, a microwave beam attack simulation is performed on the drone model. Among them, the method for simulating a microwave beam attack on a drone model is as follows: in a three-dimensional simulation scene, a visual light wave is displayed in the direction of the drone model to intuitively demonstrate the microwave beam emission effect.

[0084] After simulating a microwave beam attack on a drone model, the following method is used to simulate the effects of the drone model falling before it reaches the target transmission line model under microwave beam attack. Based on predefined indicators of the drone model's inability to fly, such as loss of flight control and decreased speed, a slow-falling trajectory is generated. This trajectory is then displayed in the 3D simulation scene view. During the slow fall, the drone model is unable to release its attack weapon model due to its loss of control, and the target transmission line model is not attacked. Simultaneously, a security check is performed on the 3D simulation scene corresponding to the power system during the slow fall. Once the 3D simulation scene is confirmed to be safe and the drone model poses no security threat, the attack and defense simulation on the power system is terminated, and a simulation results report is generated based on user requirements.

[0085] The technical solution of this embodiment is to construct an expected flight trajectory of the drone model toward the target transmission line model through the initial coordinates of the drone model and the center point coordinates of the target transmission line model; the expected flight trajectory is evenly divided to obtain multiple pass coordinate points, and multiple azimuths of the drone model flying toward the target transmission line model are determined based on every two adjacent pass coordinate points; the expected time for the drone model to pass each pass coordinate point is determined based on the actual time when the drone model is at the initial position, as well as the expected flight trajectory and total flight time of the drone model flying toward the target transmission line model; each pass coordinate point of the drone model's expected pass and the expected time corresponding to each pass coordinate point are used together as the spatiotemporal trajectory data of the drone model, so as to accurately determine the azimuth and spatiotemporal trajectory data of the drone model flying toward the target transmission line model, thereby providing a basis for subsequent accurate simulation of the drone model projecting the attack device model and attacking the target transmission line model through the attack device model.

[0086] To illustrate the attack and defense simulation method and effect of the power system in the present invention in detail, the following is an attack and defense simulation system used for implementing the attack and defense simulation method of the power system in the present invention, which is applied to the teaching field, as an example: Figure 3 As shown, the attack and defense simulation system includes a network 3D display layer, a 3D geospatial platform layer, a data storage and transmission layer, a user interaction layer, a simulation logic layer, a result output layer, an algorithm support layer, and a model resource layer. The network 3D display layer serves as the user interface for interacting with the attack and defense simulation system. It can present the 3D attack and defense simulation process of the power system through Web3D technology in a browser, making it convenient for users such as electrical engineering students to access it, receive user instructions, and display simulation results. The 3D geospatial platform layer, as the foundation for 3D simulation scenarios, can build 3D simulation scenarios corresponding to the power system based on the 3D geospatial platform. The data storage and transmission layer is primarily responsible for storing and transmitting attack and defense simulation process data. Specifically, it uses a lightweight data exchange format (JavaScript Object Notation, JSON) to store attack and defense simulation process data on a pre-set server. This data is then returned to the front-end through an interface, and simulation result reports are returned to the front-end through a two-way communication protocol. This provides a foundation for information exchange between the 3D geospatial platform layer and other layers in the attack and defense simulation system.

[0087] The user interaction layer provides users with interactive functions within the 3D simulation scenario, such as selecting a target transmission line model, setting drone-related parameters, and clicking the attack button, enabling user control and intervention in the simulation process. Drone-related parameters include the distance, direction, and speed of the drone model from the target transmission line model. The simulation logic layer includes simulation logic for four optional defense schemes: pre-buried underground treatment of critical transmission lines, insulation coating protection, protective mesh protection, and radar and microwave beam protection. Upon receiving the user's selection of the simulation report output option, the result output layer generates a simulation result report with visual charts based on detailed information about the affected load nodes corresponding to the power system, functional loss assessment data, repair time assessment data, attack result analysis data, and defense effectiveness assessment data. The algorithm support layer provides algorithmic support for the simulation process, such as determining the azimuth angle and spatiotemporal trajectory data of the drone model's flight toward the target transmission line model. The model resource layer provides the various model resources required for the simulation, such as the drone model, attack vehicle model, graphite fiber model, and parachute container model.

[0088] Furthermore, based on the above attack and defense simulation system, the effect of using the attack device model to attack the power system without opening the protection can be simulated. Figure 4 As shown, in step 1, after constructing a three-dimensional simulation scene corresponding to the power system, the three-dimensional simulation scene can be initialized and the target transmission line model can be determined in the three-dimensional simulation scene. Optionally, after constructing the three-dimensional simulation scene corresponding to the power system, the power transmission status, node voltage values, line current and other electrical parameters of each transmission line can be continuously monitored and calculated at millisecond intervals. The collected power signals can be analyzed and processed using a fast Fourier transform algorithm to ensure the accuracy and real-time nature of the calculation results, providing comprehensive and accurate basic data support for subsequent analysis of the impact of the attack device model attack on the power system.

[0089] In step 2, a drone model can be added within a preset range of the three-dimensional simulation scene, and the azimuth and spatiotemporal trajectory data of the drone model's flight toward the target transmission line model can be determined based on the drone model's initial coordinates and the coordinates of the target transmission line model's center point. In step 3, when the drone model is controlled to fly above the target transmission line model based on the azimuth and spatiotemporal trajectory data, a launch timer can be started, causing the drone model to pause for a preset time at a preset position directly above the target transmission line model. In step 4, when the drone model's pause time at the preset position directly above the target transmission line model reaches a preset dwell time, an attack device model can be rendered into the three-dimensional simulation scene. In step 5, when the attack device model's drop distance reaches a preset proportion of the total expected drop distance, the attack device model can be replaced with a preset number of parachute container models. In step 6, the parachute container models can be controlled to drop from three different spatial positions: top, middle, and bottom, according to a preset distribution rule. Step 7: When the parachute container model's drop distance reaches a predetermined proportion of the total projected drop distance, the parachute container model's explosion effect can be simulated to generate a large number of graphite fiber models. Step 8: When contact between the graphite fiber model and the target power transmission line model is detected, the short-circuit effect on the target power transmission line model and the impact on the load nodes connected to the target power transmission line model can be simulated.

[0090] The attack and defense simulation can be performed on the power system with the pre-buried underground protection of the lines using the attack device model. Figure 5As shown, in step 1, after constructing a 3D simulation scene corresponding to the power system, the 3D simulation scene can be initialized and a target transmission line model can be determined within the 3D simulation scene. Step 2: Calculate the subtraction between the current elevation of the target transmission line model and a preset elevation to obtain an updated elevation of the target transmission line model, and then modify the current elevation of the target transmission line model to the updated elevation. Step 3: Determine whether there is a connected transmission line model connected to the target transmission line model. If so, obtain the connected transmission line model connected to the target transmission line model and the endpoint to be processed on the connected transmission line model that is connected to the target transmission line model. Calculate the subtraction between the current elevation of the endpoint to be processed and the preset elevation to obtain the changed elevation of the endpoint to be processed, and modify the current elevation of the endpoint to be processed to the changed elevation. After modifying the current elevation of the endpoint to be processed to the changed elevation, obtain the target tower node from the target network node connected to the target transmission line model, and delete the target tower node from the 3D simulation scene. If not, the target tower node is directly obtained from the target network node connected to the target transmission line model, and the target tower node is deleted in the three-dimensional simulation scene. Step 4. After receiving the target transmission line model selected by the user, the attack parameters are set for the drone model and the attack device model, and the attack simulation is started at the same time. Among them, the attack parameters of the drone model may include the distance between the drone model and the target transmission line model, the orientation of the drone model relative to the target transmission line model, and the speed at which the drone model flies toward the target transmission line model. The attack parameters of the attack device model may include the attack model and coverage range. Step 5. Simulate the effect of the graphite fiber model generated by the explosion of the attack device model falling to the ground instead of the target transmission line model, and maintain the initial color of the target transmission line model selected by the user.

[0091] The attack and defense simulation can be performed on the power system with radar and microwave beam protection enabled using the attack device model. Figure 6 As shown, step 1: After constructing a 3D simulation scene corresponding to the power system, the 3D simulation scene is initialized and the target transmission line model is determined within the 3D simulation scene. Step 2: Monitor whether a drone model exists within the radar monitoring range corresponding to the power system. If so, a microwave beam attack simulation is performed on the drone model; if not, the radar monitoring range corresponding to the power system is cyclically monitored for the presence of a drone model. Step 3: Interfere with the drone model to disable its flight capability and generate a slowly falling motion trajectory of the drone model. Step 4: Display the slowly falling drone model in the view containing the 3D simulation scene according to its slowly falling motion trajectory. Step 5: Simulate the effect of the drone model not deploying an attack device model and the target transmission line model not being attacked.

[0092] The attack and defense simulation can be performed on the power system with the insulation coating protection turned on by using the attack device model. Figure 7 As shown, step 1: After constructing a 3D simulation scene corresponding to the power system, the 3D simulation scene is initialized and a target transmission line model is identified within the 3D simulation scene. Step 2: A simulation is performed on the target transmission line model being protected by an insulating coating, and a drone model is added within a preset range of the 3D simulation scene. Simulating the target transmission line model being protected by the insulating coating may include modifying the color of the target transmission line model and increasing the width of the target transmission line model. Step 3: Simulating the drone model flying over the target transmission line model, launching an attack device model, and attacking the target transmission line model using the attack device model. Step 4: Upon detecting that the graphite fiber model is in contact with the target transmission line model, the color of the target transmission line model is modified to the attack color. Step 5: Based on the material and thickness of the insulating coating, a determination is made as to whether the target transmission line model is covered by the graphite fiber model. If so, a prompt indicating that the insulating coating protection is successful is output; if not, a prompt indicating that the insulating coating protection has failed is output.

[0093] The attack and defense simulation can be performed on the power system with the protection net opened by using the attack device model. Figure 8 As shown, step 1: after constructing a three-dimensional simulation scene corresponding to the power system, the three-dimensional simulation scene is initialized and the target transmission line model is determined in the three-dimensional simulation scene. Step 2: a scenario in which the target transmission line model is protected by a protective mesh is simulated, and a drone model is added within a preset range of the three-dimensional simulation scene. Simulating the scenario in which the target transmission line model is protected by a protective mesh may include: modifying the color of the target transmission line model and increasing the width of the target transmission line model. Step 3: simulating the operation of using a drone model to fly over the target transmission line model and projecting an attack device model, as well as attacking the target transmission line model using the attack device model. Step 4: upon detecting that the graphite fiber model contacts the target transmission line model, the color of the target transmission line model is modified to the attack color, and the grounding connection between the transmission line model with the added protective mesh and the grounding point is highlighted.

[0094] Furthermore, after completing the attack and defense simulation of the protected or unprotected three-dimensional simulation scene using the attack device model, the attack and defense results of the attack device model can be analyzed. Figure 9As shown, detailed information about the affected load nodes in the three-dimensional simulation scenario can be determined based on the three-dimensional simulation process data, and functional loss assessment data can be determined based on the detailed information about the affected load nodes. Repair time assessment data can then be determined based on the detailed information about the affected load nodes and the functional loss assessment data, combined with the repair mechanism and resource allocation of the power system. Subsequently, attack result analysis data and defense effectiveness assessment data can be determined based on the detailed information about the affected load nodes, the functional loss assessment data, and the repair time assessment data. Finally, upon receiving a user selection for the simulation report output option, a simulation result report can be generated based on the detailed information about the affected load nodes corresponding to the power system, the functional loss assessment data, the repair time assessment data, the attack result analysis data, and the defense effectiveness assessment data.

[0095] The advantage of this setup is that by setting up four defense schemes: pre-buried underground treatment of important transmission lines, insulation coating protection, protective mesh protection, and radar and microwave beam protection, it is possible to fully simulate the process of drones carrying attack equipment attacking target transmission lines, as well as the effectiveness of the defense schemes in resisting attacks, thus achieving a full-process simulation of power system attack and defense. Secondly, by providing users with an interactive interface for independently selecting target transmission line models and setting attack parameters for drone models and attack equipment models, personalized attack simulation can be achieved, enhancing user participation and initiative in the learning process and meeting diverse learning needs. Finally, by outputting simulation result reports in five dimensions, including detailed information on affected load nodes, functional loss assessment data, repair time assessment data, attack result analysis data, and defense effectiveness assessment data, data support is provided for teaching and research.

[0096] Example 3

[0097] Figure 10 FIG. 1 is a schematic diagram of the structure of an attack and defense simulation device for a power system according to a third embodiment of the present invention. Figure 10As shown, the device includes: a target line determination module 101, a route planning module 102 and an attack simulation module 103, wherein: the target line determination module 101 is used to construct a three-dimensional simulation scene corresponding to the power system based on each network node in the power system and the transmission lines between each network node, and determine the target transmission line model among the transmission line models in the three-dimensional simulation scene; the route planning module 102 is used to add a drone model within a preset range of the three-dimensional simulation scene, and determine the azimuth and spatiotemporal trajectory data of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the center point coordinates of the target transmission line model; the attack simulation module 103 is used to control the drone model to fly above the target transmission line model based on the azimuth and spatiotemporal trajectory data, and simulate the operation of using the drone model to project an attack device model and attack the target transmission line model through the attack device model, so as to obtain a three-dimensional simulation scene of the power system after being attacked by the attack device model.

[0098] The technical solution in this embodiment, through the mutual cooperation of the target line determination module 101, the route planning module 102 and the attack simulation module 103, solves the problem that the existing technology uses two-dimensional simulation to perform attack and defense simulation of the power system, and cannot display the attack and defense simulation process to the user in an intuitive and three-dimensional manner. It can realize three-dimensional attack and defense simulation of the power system, making it easier for users to obtain the attack and defense simulation process of the power system in an intuitive and three-dimensional manner.

[0099] Optionally, the route planning module 102 includes: an estimated trajectory determination unit, which is used to construct an estimated flight trajectory of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the center point coordinates of the target transmission line model; an azimuth angle determination unit, which is used to evenly divide the estimated flight trajectory to obtain multiple passing coordinate points, and determine multiple azimuth angles of the drone model flying toward the target transmission line model based on every two adjacent passing coordinate points; an estimated time determination unit, which is used to determine the estimated time when the drone model passes each passing coordinate point based on the actual time when the drone model is at the initial position, the estimated flight trajectory of the drone model flying toward the target transmission line model, and the total flight time; a time-space trajectory determination unit, which is used to divide each passing coordinate point of the drone model into two equal parts. , and the estimated time corresponding to each coordinate point along the way, together serve as the spatiotemporal trajectory data of the UAV model; a rectangular coordinate acquisition unit is used to obtain the initial coordinates of the UAV model in the rectangular coordinate system, and the center point coordinates of the target transmission line model in the rectangular coordinate system; a geodetic coordinate acquisition unit is used to convert the initial coordinates of the UAV model in the rectangular coordinate system into the initial coordinates in the geodetic coordinate system, and convert the center point coordinates of the target transmission line model in the rectangular coordinate system into the center point coordinates in the geodetic coordinate system; a route planning unit is used to determine the azimuth and spatiotemporal trajectory data of the UAV model flying toward the target transmission line model based on the initial coordinates of the UAV model in the geodetic coordinate system and the center point coordinates of the target transmission line model in the geodetic coordinate system.

[0100] Optionally, the estimated time determination unit is specifically used to: determine the total flight time of the drone model flying toward the target transmission line model based on the total length of the initial aircraft trajectory and the preset flight speed of the drone model; evenly divide the total flight time of the drone model according to the number of path coordinate points to obtain the estimated flight time required for the drone model to reach each path coordinate point from the initial position; determine the estimated time for the drone model to pass each path coordinate point based on the actual time of the drone model at the initial position and the estimated flight time required for the drone model to reach each path coordinate point from the initial position.

[0101] Optionally, the device also includes a line pre-buried module, which is used to calculate the subtraction result of the current elevation of the target transmission line model and the preset height to obtain the updated elevation of the target transmission line model, and modify the current elevation of the target transmission line model to the updated elevation; obtain the connected transmission line model connected to the target transmission line model, and the endpoint to be processed on the connected transmission line model connected to the target transmission line model; calculate the subtraction result of the current elevation of the endpoint to be processed and the preset height to obtain the changed elevation of the endpoint to be processed, and modify the current elevation of the endpoint to be processed to the changed elevation; obtain the target tower node in the target network node connected to the target transmission line model, and delete the target tower node in the three-dimensional simulation scene.

[0102] Optionally, the device also includes an insulating coating protection module, which is used to modify the color of the target transmission line model to the insulating coating color and expand the width of the target transmission line model to a first preset multiple to simulate the effect of adding an insulating coating to the target transmission line model.

[0103] Optionally, the device also includes a mesh protection module, which is used to obtain a transmission line model with a protective mesh added, and replace the target transmission line model with the transmission line model with the protective mesh added; obtain a grounding point for connecting to the protective mesh in a three-dimensional simulation scene, and connect the transmission line model with the protective mesh added to the grounding point to simulate the effect of adding a protective mesh to the target transmission line model.

[0104] Optionally, the device also includes a microwave protection module, which is used to monitor whether there is a drone model within the radar monitoring range corresponding to the power system while controlling the drone model to fly above the target transmission line model based on azimuth and spatiotemporal trajectory data; if the drone model is detected within the radar monitoring range, a microwave beam attack simulation is performed on the drone model; and the effect of the drone model being attacked by the microwave beam and falling before flying above the target transmission line model is simulated.

[0105] The attack and defense simulation device for a power system provided in an embodiment of the present invention can execute the attack and defense simulation method for a power system provided in any embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For any content not fully described in this embodiment, reference can be made to the description in any method embodiment of this application.

[0106] Example 4

[0107] Figure 11 FIG. 2 shows a schematic diagram of the structure of an electronic device 20 that can be used to implement an embodiment of the present invention. Figure 11As shown, the electronic device 20 includes at least one processor 21 and a memory, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc., which is communicatively connected to the at least one processor 21. The memory stores a computer program that can be executed by the at least one processor, and the processor 21 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 22 or the computer program loaded from the storage unit 28 into the random access memory (RAM) 23. Various programs and data required for the operation of the electronic device 20 can also be stored in the RAM 23. The processor 21, ROM 22, and RAM 23 are connected to each other via a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0108] Multiple components in the electronic device 20 are connected to the I / O interface 25, including an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, speakers, etc.; a storage unit 28, such as a magnetic disk, an optical disk, etc.; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0109] The processor 21 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 21 executes the various methods and processes described above, such as the attack and defense simulation method for the power system.

[0110] In some embodiments, the attack and defense simulation method for the power system can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 20 via the ROM 22 and / or the communication unit 29. When the computer program is loaded into the RAM 23 and executed by the processor 21, one or more steps of the attack and defense simulation method for the power system described above can be performed. Alternatively, in other embodiments, the processor 21 can be configured to execute the attack and defense simulation method for the power system in any other appropriate manner (for example, by means of firmware).

[0111] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that can be executed and / or interpreted on a programmable system comprising at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device. Computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0112] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0113] To provide interaction with a client user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the client user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the client user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the client user; for example, the feedback provided to the client user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the client user can be received in any form (including acoustic input, voice input, or tactile input).

[0114] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a client user computer with a graphical client user interface or a web browser through which a client user can interact with embodiments of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or front-end components. The components of the system can be interconnected via any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet. A computing system can include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and establishing a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and virtual private server (VPS) services.

[0115] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0116] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A power system attack and defense simulation method, characterized in that: The method comprises: Constructing a three-dimensional simulation scene corresponding to the power system based on each network node and the transmission lines between each network node in the power system, and determining a target transmission line model among each transmission line model in the three-dimensional simulation scene; Adding a drone model within a preset range of the three-dimensional simulation scene, and determining the azimuth and spatiotemporal trajectory data of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the coordinates of the center point of the target transmission line model; When the UAV model is controlled to fly above the target transmission line model according to the azimuth angle and the space-time trajectory data, the operation of using the UAV model to project the attack device model and attacking the target transmission line model through the attack device model is simulated to obtain a three-dimensional simulation scene of the power system after being attacked by the attack device model.

2. The method according to claim 1, characterized in that According to the initial coordinates of the UAV model and the coordinates of the center point of the target transmission line model, the azimuth angle and spatiotemporal trajectory data of the UAV model flying toward the target transmission line model are determined, including: According to the initial coordinates of the UAV model and the coordinates of the center point of the target transmission line model, a predicted flight trajectory of the UAV model toward the target transmission line model is constructed; Evenly dividing the predicted flight trajectory to obtain a plurality of path coordinate points, and determining a plurality of azimuth angles at which the UAV model flies toward the target transmission line model based on every two adjacent path coordinate points; Determine the estimated time for the UAV model to pass through each path coordinate point based on the actual time when the UAV model is at the initial position, the estimated flight trajectory and total flight time of the UAV model flying toward the target transmission line model; Each path coordinate point of the UAV model's predicted path and the predicted time corresponding to each path coordinate point are taken together as the spatiotemporal trajectory data of the UAV model.

3. The method according to claim 2, characterized in that Based on the actual time when the UAV model is at the initial position, as well as the expected flight trajectory and total flight time of the UAV model flying towards the target transmission line model, the expected time for the UAV model to pass through each path coordinate point is determined, including: Determining the total flight time of the UAV model flying toward the target transmission line model based on the total length of the initial aircraft trajectory and the preset flight speed of the UAV model; According to the number of path coordinate points, the total flight time of the UAV model is evenly divided to obtain the estimated flight time required for the UAV model to reach each path coordinate point from the initial position; The estimated time for the drone model to pass each path coordinate point is determined based on the actual time when the drone model is at the initial position and the estimated flight time required for the drone model to reach each path coordinate point from the initial position.

4. The method according to claim 1, wherein According to the initial coordinates of the UAV model and the coordinates of the center point of the target transmission line model, the azimuth angle and spatiotemporal trajectory data of the UAV model flying toward the target transmission line model are determined, including: Obtain the initial coordinates of the UAV model in the rectangular coordinate system and the center point coordinates of the target transmission line model in the rectangular coordinate system; Convert the initial coordinates of the UAV model in the rectangular coordinate system into the initial coordinates in the geodetic coordinate system, and convert the center point coordinates of the target transmission line model in the rectangular coordinate system into the center point coordinates in the geodetic coordinate system; According to the initial coordinates of the UAV model in the geodetic coordinate system and the center point coordinates of the target transmission line model in the geodetic coordinate system, the azimuth angle and spatiotemporal trajectory data of the UAV model flying toward the target transmission line model are determined.

5. The method according to claim 1, wherein After determining the target transmission line model among the transmission line models in the three-dimensional simulation scene, the method further includes: Calculating a subtraction result between the current elevation of the target transmission line model and the preset elevation to obtain an updated elevation of the target transmission line model, and modifying the current elevation of the target transmission line model to the updated elevation; Acquire a connected transmission line model connected to a target transmission line model, and an endpoint to be processed on the connected transmission line model connected to the target transmission line model; Calculate the subtraction result of the current elevation of the endpoint to be processed and the preset elevation to obtain the changed elevation of the endpoint to be processed, and modify the current elevation of the endpoint to be processed to the changed elevation; A target tower node is obtained from a target network node connected to a target transmission line model, and the target tower node is deleted in a three-dimensional simulation scene.

6. The method according to claim 1, characterized in that After determining the target transmission line model among the transmission line models in the three-dimensional simulation scene, the method further includes: The color of the target transmission line model is changed to the color of the insulating coating, and the width of the target transmission line model is expanded to a first preset multiple to simulate the effect of adding the insulating coating to the target transmission line model.

7. The method according to claim 1, characterized in that After determining the target transmission line model among the transmission line models in the three-dimensional simulation scene, the method further includes: Obtaining a transmission line model with a protective mesh added, and replacing the target transmission line model with the transmission line model with the protective mesh added; A grounding point for connecting to a protective mesh is obtained in the three-dimensional simulation scene, and the transmission line model to which the protective mesh has been added is connected to the grounding point to simulate the effect of adding a protective mesh to the target transmission line model.

8. The method according to claim 1, characterized in that The method further comprises: In the process of controlling the UAV model to fly above the target transmission line model according to the azimuth angle and the spatiotemporal trajectory data, monitoring whether there is a UAV model within the monitoring range of the radar corresponding to the power system; If a UAV model is detected within the radar monitoring range, a microwave beam attack simulation is performed on the UAV model; The effect of a drone model being attacked by a microwave beam and falling before it flies over a target power transmission line model is simulated.

9. An attack and defense simulation device for a power system, characterized in that: The device comprises: a target line determination module, configured to construct a three-dimensional simulation scenario corresponding to the power system based on each network node in the power system and the transmission lines between the network nodes, and to determine a target transmission line model among the transmission line models in the three-dimensional simulation scenario; a route planning module, configured to add a drone model within a preset range of the three-dimensional simulation scene, and determine the azimuth and spatiotemporal trajectory data of the drone model flying toward the target transmission line model based on the initial coordinates of the drone model and the coordinates of the center point of the target transmission line model; The attack simulation module is used to control the UAV model to fly above the target transmission line model according to the azimuth angle and the spatiotemporal trajectory data, simulate the operation of using the UAV model to project the attack device model and attack the target transmission line model through the attack device model, and obtain a three-dimensional simulation scene of the power system after being attacked by the attack device model.

10. An electronic device, characterized in that: The electronic device comprises: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the attack and defense simulation method for the power system according to any one of claims 1 to 8.

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