An unmanned system model virtual-real fusion verification test system and method

Abstract

The application provides a virtual-real fusion verification test system and method for an unmanned system model, and belongs to the technical field of unmanned system verification testing. The system comprises a master control system, a virtual simulation system, an information acquisition module, a platform control system, an unmanned platform measurement and control device, a test measurement and control link, and a testee link. The application provides a new idea for verifying the accuracy and confidence of the communication system and kinematic model of the unmanned system in the virtual simulation, and provides a solid foundation for formulating and executing complex strategies for the unmanned system in a full virtual environment.

Description

Technical Field

[0001] This invention belongs to the field of unmanned system verification and testing technology, and in particular relates to an unmanned system model virtual-real fusion verification and testing system and method. Background Technology

[0002] In complex scenarios such as combat simulations, the confidence levels of the communication system and kinematic models of unmanned systems (UHS) significantly impact the reliability and practicality of simulation results during image and video acquisition, transmission, and precise motion simulation. While purely virtual environment simulations can avoid the high costs and risks of physical experiments, their mapping accuracy to the real environment is insufficient, leading to significant discrepancies between the simulation results of the UHS kinematic and communication system models and their interaction with the environment and the experimental results in actual environments.

[0003] In existing technologies, data interaction and guidance between virtual simulation scenarios and real-world experimental scenarios are used to obtain feedback parameters from both scenarios, and model consistency verification is performed based on these parameters. Specifically, this includes: collecting operational data of the simulation target and constructing a digital twin virtual scenario; acquiring data from the real-world experimental scenario; using a data interaction module to ensure that the simulation target in the virtual simulation and the simulation target in the real-world experimental scenario produce the same action feedback; synchronously acquiring feedback parameters from both the real-world and virtual scenarios through a verification module; and performing dynamic data consistency verification based on these feedback parameters.

[0004] However, existing technologies still have the following drawbacks:

[0005] (1) Existing technologies do not consider the time delay caused by virtual-real guidance, and the data alignment required for model verification cannot be achieved by timestamp synchronization. For example, the uncertainty of relay delay in ad hoc networks causes the action feedback in virtual and real spaces to be neither time-synchronized nor with a fixed delay. Data alignment should be compared based on the excitation event time of each space.

[0006] (2) Existing model verification methods are inadequate. The basic principle of model verification is to apply the same stimulus (external environment) to virtual and real objects under the same virtual and real states (internal environment), observe their respective outputs, and compare the data. Whether it is virtual reflecting real or real reflecting virtual, it does not essentially conform to this principle. Virtual-real guidance only realizes the synchronization of the states of virtual and real objects (realizing the consistency of the internal environment), and it is still necessary to apply the same external stimulus, or use the current state as the stimulus and observe the next state output, but at this time the guidance is only similar to the initialization state.

[0007] (3) The model verification data comparison method is not universally applicable. When there is asynchrony between virtual and real objects, it is necessary to adjust their states to achieve consistency. For example, in a satellite twin system, due to the accumulation of drift in the inertial system, there is a large position and attitude deviation between the virtual and real satellites. When a certain warning value is reached, it is necessary to actively intervene and adjust to make the virtual and real synchronized. Then, virtual and real synchronization excitation is performed to verify whether the adjusted model meets the operational confidence requirements. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention proposes a virtual-real fusion verification and testing scheme for unmanned system models.

[0009] Specifically, this invention addresses the problem of imperfect confidence verification methods for unmanned system models during complex environment simulations. It constructs an experimental control link parallel to the existing test link and proposes a technical solution to verify the communication system model and kinematic model of the unmanned platform in a virtual simulation system using a virtual-real fusion method. During the communication system model verification process, the position and sensor states of the virtual and real unmanned platforms are kept consistent. The main control system provides synchronous virtual-real service stimulation to ensure consistent internal and external conditions during the virtual-real model verification process. Data is collected based on the excitation event time in both virtual and real spaces and compared back to the main control system to verify whether the model meets the operational confidence requirements. When the verification deviation of the virtual-real unmanned platform communication system model is within a set threshold, the main control system synchronously sends motion control commands to progressively verify the kinematic model. This invention verifies model confidence through virtual-real fusion, laying the foundation for the accurate application of unmanned systems in fully virtual complex environment simulations.

[0010] The first aspect of this invention proposes a virtual-real fusion verification and testing system for an unmanned system model, the system comprising: a main control system, a virtual simulation system, an information acquisition module, a platform control system, an unmanned platform measurement and control device, an experimental measurement and control link, and a test link; wherein:

[0011] The main control system is configured to: generate control and configuration command signals, collect test data, and perform data analysis and result determination.

[0012] The virtual simulation system is configured to reproduce the physical characteristics, equipment parameters, and human-computer interaction logic of the real environment, including a digital twin model corresponding to the real environment; the virtual simulation system includes a virtual unmanned platform, a channel model, a communication terminal model, and a virtual simulation scene;

[0013] The information acquisition module includes sensors and signal processing devices; the sensors are configured to monitor, reconnoiter, and acquire image and video information; the signal processing devices are configured to receive image and video information acquired by the sensor module, filter, amplify, convert, linearize, standardize, and extract features from the image and video information, encapsulate the obtained information into data packets or data streams, and send them to the subject link;

[0014] The platform control system is configured to: manage and control the motion behavior of the unmanned platform, receive control commands from the main control system, and return platform status information to the main control system via a 5G-MESH hybrid network; the platform status information includes position, attitude, velocity, and acceleration;

[0015] The unmanned platform monitoring and control device is configured to: receive control and configuration commands from the main control system to the unmanned platform, and send them to the unmanned platform's information acquisition module, platform control system, and communication module; and send all service signals and status information generated by the unmanned platform's information acquisition module, as well as parameters and status information generated by the platform control system and communication module, back to the main control system via the 5G-MESH hybrid network.

[0016] The test telemetry and control link includes a platform end installed on the unmanned platform and a ground end deployed on the ground. The test telemetry and control link uses 5G as the backbone network and MESH networking as a supplementary 5G-MESH hybrid network. The test telemetry and control link is configured to: collect status monitoring data and application service data of the unmanned platform and the test link; monitor the operation of the test link during the test as the basis for evaluating the model; upload test control and configuration data; perform behavior control and parameter configuration on the unmanned platform and the test link; and set test conditions to make the unmanned platform move to the desired position.

[0017] The test link includes a communication module and a ground communication terminal, which are configured to: establish a communication link between an unmanned platform and a ground communication terminal in a real environment during the test; the construction of the communication link is optimized according to the verification requirements to support the collection and analysis of experimental data; the communication module and the ground communication terminal communicate through a mobile ad hoc network.

[0018] In a preferred embodiment, the main control system is configured to generate control and configuration command signals; specifically including: generating control and configuration commands for physical equipment and generating control and configuration commands for the virtual simulation system; wherein:

[0019] The generation of control and configuration instructions for physical equipment includes: the generation of platform control instructions, subject link control and configuration instructions, and sensor control instructions for the information acquisition module;

[0020] Platform control commands control the motion of the platform;

[0021] The test link control and configuration instructions include: communication module control and configuration instructions and communication terminal control and configuration instructions, which configure the operating frequency band, transmission power and network protocol of the communication module and the ground communication terminal respectively;

[0022] The sensor control commands of the information acquisition module control the operation of the sensors, including pan-tilt rotation, searching, tracking, taking pictures, and recording videos;

[0023] The generation of control and configuration instructions for the virtual simulation system includes: virtual platform control instructions, virtual subject link control and configuration instructions, and virtual sensor control instructions;

[0024] Virtual platform control commands enable motion control of the virtual platform;

[0025] The virtual subject link control and configuration instructions configure the operating frequency band, transmit power, network protocol, channel type, bandwidth, noise power spectral density, and multipath effect parameters of the communication module model and communication terminal model;

[0026] Virtual sensor control commands enable the operation control of virtual sensors, including gimbal rotation, searching, tracking, taking pictures, and recording videos;

[0027] The system generates virtual platform control commands and virtual sensor control commands corresponding to the physical platform based on the status information of the physical platform and the sensors.

[0028] In a preferred embodiment, the main control system is configured to collect test data; specifically including:

[0029] Data during the model verification process is collected using communication performance parameter acquisition unit, service signal data acquisition unit, motion state data acquisition unit, and working state data acquisition unit.

[0030] The communication performance parameter acquisition unit is used to collect service data frame information, bit error rate, packet loss rate, and latency information of physical communication devices and virtual communication devices;

[0031] The service signal data acquisition unit is used to acquire image and video information in real and virtual environments;

[0032] The motion state data acquisition unit is used to collect the motion state of the unmanned platform, including position, attitude, velocity, and acceleration.

[0033] The working status data acquisition unit is used to transmit the working status information of communication equipment and sensors back to the user.

[0034] In a preferred embodiment, the main control system is configured to perform data analysis and result determination; specifically including:

[0035] The confidence levels of the communication system model and kinematic model are analyzed and determined, including communication performance data analysis and kinematic performance data analysis.

[0036] Kinematic performance data analysis enables comparative analysis of the position, attitude, velocity, and acceleration information of unmanned platforms and virtual unmanned platforms;

[0037] Communication performance data analysis compares and analyzes the service data frame information, bit error rate, packet loss rate, and latency information of physical communication devices and virtual communication devices.

[0038] In a preferred embodiment, for a virtual simulation system:

[0039] The virtual unmanned platform includes a kinematic model, a mission system, and a communication module model. The kinematic model describes the platform's physical motion characteristics, including changes in position, attitude, velocity, and acceleration. The mission system uses onboard sensors to complete image and video data acquisition tasks.

[0040] The channel model simulates in real time the path loss, channel delay, multipath fading, interference, and noise of service signals during transmission in a real environment;

[0041] Virtual simulation scenes are generated by modeling real scenes on a proportional scale.

[0042] In a preferred embodiment, regarding the test and control link:

[0043] The telemetry and control (TT&C) platform includes a TT&C platform module and a TT&C antenna. The TT&C platform connects to the unmanned platform TT&C device, receives platform status data, payload status data, and parameters and status data of the tested link collected by the unmanned platform TT&C device, and transmits them back to the ground terminal of the TT&C chain via a 5G-MESH hybrid network. At the same time, it receives control and configuration commands from the ground terminal via the 5G-MESH hybrid network, sends them to the unmanned platform TT&C device, and controls and configures the platform, its supporting payload, and physical communication equipment. The TT&C platform is powered by the unmanned platform's built-in power supply.

[0044] In a preferred embodiment, regarding the test and control link:

[0045] The ground terminal of the telemetry and control chain includes a ground terminal host, a ground antenna, and a battery. The ground terminal host is powered by the battery. The ground terminal is connected to the main control system and receives telemetry data from the unmanned platform through a 5G-MESH hybrid network and sends it to the main control system. At the same time, it receives control and configuration commands from the main control system and uploads them to the unmanned platform through the 5G-MESH hybrid network.

[0046] A second aspect of this invention provides a method for verifying and testing the virtual-real fusion of an unmanned system model. The method utilizes the system described in the first aspect of this invention to perform the verification and testing of the virtual-real fusion of the unmanned system model. The method includes:

[0047] The communication system model is verified and revised; the communication system model includes the communication equipment model and the channel model.

[0048] The kinematic model of the unmanned platform was verified and corrected.

[0049] A third aspect of this invention discloses an electronic device. The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a virtual-real fusion verification and testing method for an unmanned system model according to the first aspect of this disclosure.

[0050] A fourth aspect of this invention discloses a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements a virtual-real fusion verification and testing method for an unmanned system model according to the first aspect of this disclosure.

[0051] Through combined virtual and real-world testing and verification of unmanned system models, this invention provides a new approach to verifying the accuracy and confidence of unmanned system communication systems and kinematic models in virtual simulation, and provides a solid foundation for unmanned systems to formulate and execute complex strategies in a fully virtual environment. Attached Figure Description

[0052] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram for verifying a communication system model.

[0054] Figure 2 This is a schematic diagram for verifying the kinematic model.

[0055] Figure 3 This is a schematic diagram of the functional components of the main control system.

[0056] Figure 4 This is a schematic diagram of the test and control link.

[0057] Figure 5 This is a schematic diagram of the communication system model verification process.

[0058] Figure 6 This is a schematic diagram of the kinematic model validation process.

[0059] Figure 7 A schematic diagram showing the connection relationship between the antennas configured at the platform end and the ground end of the telemetry and control chain. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] Definitions of abbreviations and key terms:

[0062] Communication module: In this invention, it refers to the communication module of an unmanned platform;

[0063] Ground communication terminal: This invention refers to a handheld communication device that has human-to-human communication function and remote telemetry and control function for unmanned platforms;

[0064] 5G-MESH Hybrid Network: This invention refers to a high-reliability network used for testing and control.

[0065] This invention addresses the problem of imperfect confidence verification methods for unmanned system models during complex environment simulations such as battlefield exercises. It constructs an experimental measurement and control link parallel to the existing test link and proposes a technical solution to verify the communication system model and kinematic model of the unmanned platform in the virtual simulation system using a virtual-real fusion method. During the communication system model verification process, the positions and sensor states of the virtual and real unmanned platforms are kept consistent. The main control system provides synchronous virtual-real service stimulation to ensure consistent internal and external conditions during the virtual-real model verification process. Data is collected based on the excitation event time in both virtual and real spaces and compared back to the main control system to verify whether the model meets the operational confidence requirements. When the verification deviation of the virtual-real unmanned platform communication system model is within a set threshold, the main control system synchronously sends motion control commands to progressively verify the kinematic model. This invention verifies model confidence through virtual-real fusion, laying the foundation for the accurate application of unmanned systems in fully virtual complex environment simulations.

[0066] like Figure 1-2 As shown, the functions of the instructions are described in Table 1.

[0067] Table 1: Command Function Correspondence Table

[0068]

[0069]

[0070]

[0071] The present invention proposes a virtual-real fusion verification and testing system and method for unmanned system models, comprising a main control system, a virtual simulation system, an information acquisition module, a platform control system, an unmanned platform measurement and control device, an experimental measurement and control link, and a test link.

[0072] like Figure 3 As shown, the main control system includes functions for generating control and configuration command signals, acquiring test data, and analyzing and determining results.

[0073] The control and configuration command signal generation function mainly includes the generation of control and configuration commands for physical equipment and the generation of control and configuration commands for virtual simulation systems.

[0074] The system generates control and configuration commands for physical equipment, including platform control commands, test link control and configuration commands, and sensor control commands for the information acquisition module. Platform control commands control the platform's motion. Test link control and configuration commands include communication module control and configuration commands and communication terminal control and configuration commands, configuring status parameters such as operating frequency band, transmit power, and network protocol for the communication module and ground communication terminal, respectively. Sensor control commands from the information acquisition module control the operation of sensors, such as gimbal rotation, searching, tracking, photographing, and video recording.

[0075] The virtual simulation system's control and configuration command generation function includes virtual platform control commands, virtual subject link control and configuration commands, and virtual sensor control commands. Virtual platform control commands enable motion control of the virtual platform. Virtual subject link control and configuration commands configure state parameters such as operating frequency band, transmit power, and network protocol for communication module models and communication terminal models, as well as state parameters such as channel type, bandwidth, noise power spectral density, and multipath effects for channel models. Virtual sensor control commands enable operational control of virtual sensors, such as gimbal rotation, searching, tracking, photographing, and video recording. Furthermore, the system can generate virtual platform control commands and virtual sensor control commands corresponding to the physical platform based on the state information of the physical platform and sensors.

[0076] The test data acquisition function can collect data during the model verification process, including a communication performance parameter acquisition unit, a service signal data acquisition unit, a motion state data acquisition unit, and an operational status data acquisition unit. The communication performance parameter acquisition unit collects service data frame information, bit error rate, packet loss rate, and latency information from both physical and virtual communication devices. The service signal data acquisition unit collects image and video information from both real and virtual environments. The motion state data acquisition unit collects the motion state of the unmanned platform, including position, attitude, velocity, and acceleration information. The operational status data acquisition unit transmits operational status information from communication devices and sensors.

[0077] The data analysis and result evaluation functions can analyze and evaluate the confidence levels of communication system models and kinematic models, including communication performance data analysis and kinematic performance data analysis. Communication performance data analysis compares and analyzes data such as service data frame information, bit error rate, packet loss rate, and latency information of physical and virtual communication devices. Kinematic performance data analysis allows for comparative analysis of kinematic performance information such as position, attitude, velocity, and acceleration of unmanned and virtual unmanned platforms.

[0078] Virtual simulation systems reproduce the physical characteristics, equipment parameters, and human-computer interaction logic of real-world environments with high fidelity, including digital twin models corresponding to the real environment. Virtual simulation systems comprise virtual unmanned platforms, channel models, communication terminal models, and virtual simulation scenarios.

[0079] The virtual unmanned platform comprises a kinematic model, a mission system, and a communication module model. The kinematic model describes the platform's physical motion characteristics, including changes in position, attitude, velocity, and acceleration. The mission system, equipped with sensors, performs image and video data acquisition tasks.

[0080] Channel models can simulate in real time the path loss, channel delay, multipath fading, interference, and noise of service signals during transmission in a real environment.

[0081] Virtual simulation scenes are generated by modeling real scenes on a proportional scale.

[0082] The information acquisition module includes sensors and a signal processing unit. The main function of the sensors is to monitor and reconnoiter, acquiring image and video information. The signal processing unit receives the image and video information acquired by the sensor module, filters, amplifies, transforms, linearizes, standardizes, and extracts features from the image and video information, and then encapsulates the information into data packets or data streams before sending them to the test link.

[0083] The platform control system is a system component used to manage and control the motion behavior of unmanned platforms. Its main responsibility is to receive control commands from the main control system and return platform status information, including position, attitude, velocity, and acceleration, to the main control system via a 5G-MESH hybrid network.

[0084] The unmanned platform monitoring and control device receives control and configuration commands from the main control system for the unmanned platform and sends them to the unmanned platform information acquisition module, platform control system and communication module. It also sends all business signals and status information generated by the unmanned platform information acquisition module, as well as parameters and status information generated by the platform control system and communication module, back to the main control system through the 5G-MESH hybrid network.

[0085] like Figure 4 As shown, the test telemetry and control link mainly includes the platform end of the telemetry and control link installed on the unmanned platform and the ground end of the telemetry and control link deployed on the ground, such as... Figure 4 As shown, the reliability of the test and control link is far greater than that of the tested link. The test and control link uses 5G as the backbone network and MESH networking as a supplementary 5G-MESH hybrid network. The 5G network, as the main communication link, provides high-speed, low-latency wide-area connectivity. The MESH network, as a supplement in local areas, features no prior configuration required, plug-and-play functionality, flexible networking, and automatic relay capabilities. It can adapt well to complex and changing test environments or conditions, enhancing coverage and reliability in specific areas. The test and control link has two functions: first, to collect status monitoring data and application service data from the unmanned platform and the tested link to monitor the operation of the tested link during the test, serving as a basis for evaluating the model; second, to upload test control and configuration data to perform behavioral control and parameter configuration on the unmanned platform and the tested link, setting test conditions to ensure the unmanned platform moves to the desired position.

[0086] The telemetry, tracking, and command (TT&C) platform includes a TT&C platform module and a TT&C antenna. The TT&C platform connects to the unmanned platform's TT&C device, receiving platform status data, payload status data, and parameters and status data of the tested link collected by the unmanned platform's TT&C device, and transmitting this data back to the TT&C ground terminal via a 5G-MESH hybrid network. Simultaneously, it receives control and configuration commands from the ground terminal via the 5G-MESH hybrid network and sends them to the unmanned platform's TT&C device for control and parameter configuration of the platform, its associated payload, and physical communication equipment. The TT&C platform is miniaturized and lightweight, allowing for portable installation on the unmanned platform. The TT&C platform is powered by the unmanned platform's built-in power supply.

[0087] The ground terminal of the telemetry, tracking, and command (TT&C) chain includes a ground terminal host, a ground antenna, and a battery. The ground terminal host is powered by a battery. The ground terminal connects to the main control system, receiving telemetry data from the unmanned platform via a 5G-MESH hybrid network and transmitting it to the main control system. Simultaneously, it receives control and configuration commands from the main control system and uploads them to the unmanned platform via the 5G-MESH hybrid network.

[0088] The test link consists of a communication module and a ground communication terminal. During testing, a communication link is established in a real-world environment, comprising an unmanned platform and a ground communication terminal. The construction of the communication link will be optimized according to verification requirements to support the effective acquisition and analysis of experimental data. The communication module and the ground communication terminal communicate via a mobile ad hoc network, which offers advantages such as no need for infrastructure, dynamic adaptation to node changes, distributed management, and flexible scalability.

[0089] like Figure 5 As shown, the communication system model is verified and corrected: the communication system model includes the communication equipment model and the channel model.

[0090] The main control system sends platform control commands via a 5G-MESH hybrid network to control the motion of the unmanned platform, and transmits platform and sensor status information back to the main control system via the same network. The main control system then converts the platform and sensor status information acquired from the actual environment into virtual platform control commands and virtual sensor control commands, and transmits them to the kinematic model module and task system module in the virtual simulation system to achieve virtual-real position synchronization and sensor status synchronization.

[0091] The main control system sends communication module control and configuration commands via a 5G-MESH hybrid network and ground communication terminal control and configuration commands via cable to configure the communication system. The main control system also transmits virtual subject link control and configuration commands to the virtual simulation system, achieving synchronization of communication configuration between the virtual and real environments.

[0092] After the test environment is initialized, a duplex test mechanism based on the main control system is established to meet the collaborative verification requirements of communication equipment and channel in the communication system model: (1) Real environment: The main control system generates an uplink control and configuration instruction set with feature identifiers. After the protocol is encapsulated by the ground communication terminal, it is transmitted to the communication module through the physical channel. The communication module transmits the control and configuration instructions to the unmanned platform measurement and control device to drive the sensor array to perform the acquisition task. At the same time, a downlink video stream test environment is constructed. The sensor generates a standard test video stream, which is encoded by the communication module and transmitted in reverse through the physical channel to the ground communication terminal equipment. After the protocol is parsed, it is transmitted back to the main control system. (2) Virtual simulation environment: The main control system generates an uplink control and configuration instruction set containing feature identifiers. After protocol adaptation by the communication terminal model, it is transmitted to the communication module model through the channel model. The communication module model sends the uplink control and configuration instructions of the test link to the task system to realize image and video acquisition. Simultaneously, a downlink video stream verification channel is established. The task system module generates standard test image transmission data. After encoding by the communication module model and simulation of channel attenuation characteristics, the communication terminal model decodes the protocol stack and sends it to the main control system.

[0093] Communication system verification parameter acquisition: (1) Real environment: The unmanned platform measurement and control device monitors the communication module in real time, and returns the communication performance parameters and status information to the main control system through the 5G-MESH hybrid network. The main control system monitors the ground communication terminal in real time and collects the communication performance parameters and status information. During the transmission of business information, the unmanned platform measurement and control device collects the business data frame information, bit error rate, packet loss rate, and delay of the communication module and sends it to the ground end of the measurement and control chain through the 5G-MESH hybrid network. The ground end of the measurement and control chain transmits it back to the main control system. The test data acquisition function of the main control system collects the business data frame information, bit error rate, packet loss rate, and delay of the ground communication terminal. (2) Virtual simulation system: Collects the business data frame information, bit error rate, packet loss rate, and delay of the communication module model and sends it to the communication terminal model through the power attenuation and channel delay of the channel model. The virtual simulation system collects the business data frame information, bit error rate, packet loss rate, and delay of the communication terminal model. The virtual simulation system transmits the information of the communication module model and the information of the communication terminal model to the main control system. The main control system calculates the bit error rate, packet loss rate, and delay based on the data information transmitted back in the virtual simulation and generates network status data in the virtual environment.

[0094] By comparing and analyzing the actual and virtual data information in the main control system, the communication system deviation information between the actual and virtual data information is obtained, thus realizing the verification of the communication system model.

[0095] like Figure 6 As shown, the kinematic model of the unmanned platform is verified and corrected.

[0096] Unmanned Platform Configuration: (1) Control and Transmission in Real Environment: The main control system transmits the control and configuration commands of the unmanned platform communication module to the communication module through the 5G-MESH hybrid network. The main control system sends the control and configuration commands to the ground communication terminal, which transmits them to the communication module through the physical channel. The communication module transmits the uplink control commands of the test link to the unmanned platform measurement and control device, thereby realizing the control of the platform control system. (2) Control and Transmission in Virtual Simulation Environment: In the virtual simulation system, the main control system sends the control and configuration commands of the virtual test link and the virtual platform control commands to the virtual simulation system. This realizes the control and configuration of the communication terminal model, channel model, and communication module model, as well as the motion control of the virtual unmanned platform.

[0097] The platform control system sends the unmanned platform's motion status information, including position, attitude, velocity, and acceleration, to the unmanned platform measurement and control device. The unmanned platform measurement and control device then returns the platform status information to the main control system via a 5G-MESH hybrid network. The virtual simulation system directly collects the virtual unmanned platform's status information, including its kinematic performance information such as position, attitude, velocity, and acceleration, and returns this information to the main control system.

[0098] By statistically analyzing the actual and virtual data information in the main control system, the kinematic performance deviation information of the actual and virtual data information is obtained, thus realizing the verification of the kinematic model.

[0099] This invention describes a model verification embodiment based on the scenario of a drone operator conducting a reconnaissance mission in a complex urban environment. During the mission, the drone mainly transmits telemetry and control information, images, and video streams. It can promptly and effectively collect operational information based on the target information from the main control system, ensuring the efficient completion of the reconnaissance mission.

[0100] The configuration steps for the test and control link are as follows:

[0101] 1. Configure a 5G-MESH hybrid network:

[0102] Master Node: Install 5G base stations to ensure coverage of key areas. Deploy 5G client devices as master nodes to connect to the internet via the 5G network.

[0103] Child nodes: Deploy multiple MESH nodes in areas where enhanced coverage is needed. These nodes can be connected to the master node via wired or wireless means to form a MESH network.

[0104] Terminal equipment: The telemetry and control chain platform end and the telemetry and control chain ground end can access the network through the nearest MESH node to achieve seamless roaming and high reliability.

[0105] 2. The telemetry and control (TT&C) platform end is the MESH networking terminal module installed on the UAV, with the number of antennas configured as needed. It uses a 2×2 MIMO technology system, equipped with two antennas, such as... Figure 7 As shown.

[0106] 3. The ground terminal of the telemetry and control chain is a complete device equipped with a MESH networking terminal module, communicating with the telemetry and control chain platform via a 5G-MESH hybrid network. The number of antennas is configured as needed. A 2×2 MIMO technology system is used, with two antennas. Figure 7 As shown.

[0107] 4. Set the operating frequency, modulation method, and transmit power for the MESH networking module on the telemetry and control chain platform.

[0108] 5. Set the operating frequency, modulation method, and transmission power for the MESH networking module at the ground end of the telemetry and control link.

[0109] 6. Select batteries with appropriate specifications.

[0110] 7. Select an appropriate antenna length; use whip antennas at both the platform end and the ground end of the telemetry and control chain; set the center frequency and maximum gain of the antenna; and select the appropriate RF connector.

[0111] By setting up the above, a real environment configuration can be achieved, and the main control system and virtual simulation system can be initialized. This enables the verification of the telemetry and communication system model between the UAV operator and the UAV, as well as the verification of the UAV's kinematic model, during the virtual-real human-machine collaborative operation.

[0112] Example

[0113] 1. Verify the communication system model:

[0114] The communication system model includes a communication equipment model and a channel model. Based on the reconnaissance scenario information, the main control system sends platform control command 1 to the unmanned platform telemetry and control device via the 5G-MESH hybrid network. Upon receiving the command, the unmanned platform telemetry and control device transmits it to the platform control system. The unmanned platform moves to the designated position according to the control command and transmits its status 5 and sensor status 6 back to the main control system's test data acquisition module's operational status data acquisition unit via the 5G-MESH hybrid network. The main control system's test data acquisition module transmits the unmanned platform status 5 and sensor status 6 to the main control system's control and configuration command signal generation module, generating virtual platform control command 19 and virtual sensor control command 21, which are then transmitted to the kinematic model module and mission system module of the virtual simulation system, respectively, ensuring that the virtual unmanned platform's operating position and sensor status are consistent with the actual unmanned platform.

[0115] The main control system sends control and configuration command 2 to the communication module via the 5G-MESH hybrid network, and simultaneously sends control and configuration command 4 to the ground communication terminal via cable. The main control system transmits virtual subject link control and configuration command 20 to the virtual subject link module of the virtual simulation system, realizing the synchronization of communication configuration between the virtual environment and the real environment.

[0116] Task command upload: (1) Real environment: After the sensor control command 3 is generated by the control and configuration command signal generation module of the main control system, it is encapsulated by the ground communication terminal and transmitted to the communication module through the physical channel. The communication module transmits the sensor control command 3 to the unmanned platform measurement and control device to drive the sensor array to perform the acquisition task. (2) Virtual simulation environment: The control and configuration command signal generation module of the main control system generates virtual sensor control command 21. After the communication terminal model performs protocol adaptation, it is transmitted to the communication module model through the channel model. The communication module model sends the virtual sensor control command 21 to the task system to realize image and video acquisition.

[0117] Communication system verification parameter acquisition: The unmanned platform monitoring and control device acquires the unmanned platform status (5), sensor status (6), communication module parameters (7), communication module status (9), and physical control commands (12), and transmits this information back to the test data acquisition module of the main control system through the test monitoring and control link. The test data acquisition module transmits communication module parameters (7) to the communication performance data analysis unit of the data analysis and result judgment module for communication system model confidence verification. The sensor array of the information acquisition module generates images and videos (11), which are encoded by the communication module and transmitted back to the ground communication terminal equipment through the physical channel. The ground communication terminal returns communication terminal parameters (8), communication terminal status (10), images, and videos (11) to the test data acquisition module of the main control system. The test data acquisition module transmits communication terminal parameters (8) to the communication performance data analysis unit of the data analysis and result judgment module for data storage. During this process, the virtual simulation system sends the communication module model state 13, communication terminal model state 14, communication module model parameters 15, virtual unmanned platform state 18, and virtual control commands 22 to the test data acquisition module of the main control system. The test data acquisition module then transmits the communication module model parameters 15 to the communication performance data analysis unit of the data analysis and result judgment module for communication system model confidence verification. The virtual simulation system also sends the communication terminal model state 14, communication terminal model parameters 16, virtual unmanned platform state 18, and virtual sensor state 23 to the test data acquisition module of the main control system. The test data acquisition module then transmits the communication terminal model parameters 16 to the communication performance data analysis unit of the data analysis and result judgment module for data storage.

[0118] A comparative analysis was conducted on communication module parameter 7 and communication module model parameter 15 in the communication performance data analysis unit of the main control system. At the same time, a comparative analysis was conducted on communication terminal parameter 8 and communication terminal model parameter 16 in the communication performance data analysis unit. The deviation information of the communication system in the physical environment and virtual simulation was obtained, thus realizing the verification of the communication system model.

[0119] 2. Validate the kinematic model of the unmanned platform:

[0120] Unmanned platform configuration: (1) Control and transmission in the real environment: The main control system transmits control and configuration command 2 to the communication module through the 5G-MESH hybrid network. The main control system transmits platform control command 1 and control and configuration command 4 to the ground communication terminal, and the ground communication terminal sends platform control command 1 to the communication module. (2) Control and transmission in the virtual simulation environment: The main control system sends virtual subject link control and configuration command 20 to the virtual subject link module of the virtual simulation system. The main control system sends virtual platform control command 19 to the kinematic model module of the virtual simulation system.

[0121] The unmanned platform transmits sensor status 6 and communication module status 9 back to the main control system's operational status data acquisition unit via the test and control link. The ground communication terminal transmits communication terminal status 10 back to the main control system's operational status data acquisition unit. The platform control system returns unmanned platform status 5 to the motion status data acquisition unit of the main control system's test data acquisition module via the 5G-MESH hybrid network. Simultaneously, the virtual simulation system directly acquires virtual unmanned platform status 18 and returns the virtual platform status information to the motion status data acquisition unit of the main control system's test data acquisition module. The main control system's motion status data acquisition unit transmits unmanned platform status 5 and virtual unmanned platform status 18 to the kinematic performance data analysis unit of the main control system's data analysis and result judgment module. The virtual simulation system acquires communication module model status 13, communication terminal model status 14, and virtual sensor status 23 and transmits them back to the main control system's test data acquisition module.

[0122] By comparing and analyzing the unmanned platform state 5 and the virtual unmanned platform state 18 in the kinematic performance data analysis unit of the main control system, the kinematic performance deviation information between the actual data information and the virtual data information is obtained, thus realizing the verification of the kinematic model.

[0123] The method described in this invention application considers the relationship between communication quality and motion control command lag during model verification, enhancing the universality of the model verification method. It also addresses the issue of asynchronous action feedback time in virtual and real spaces caused by the uncertainty of relay delay in ad hoc networks. By comparing data based on the excitation event time in both virtual and real spaces, it achieves verification of the communication system model and kinematic model under consistent internal and external virtual and real environments, providing a basis for verifying the model confidence of the virtual simulation system. First, during the verification of the communication system model, the main control system synchronously sends command information to ensure consistency between the position of the virtual and real unmanned platform and the sensor state. By comparing and analyzing the information transmission characteristics of the communication system in the real environment and the signal transmission characteristics of the communication system model in the virtual environment, the model confidence of the virtual simulation system is verified, and potential errors are identified, laying the foundation for improving the security and stability of data communication link transmission in the simulation. Second, based on the successful verification of the communication system model, kinematic model verification is performed. By comparing and analyzing the motion behavior of the unmanned system in the real and virtual environments, potential errors are identified, laying the foundation for improving the sensitivity of the unmanned system in the simulation.

[0124] Through combined virtual and real-world testing and verification of unmanned system models, new approaches can be provided to verify the accuracy and confidence of unmanned system communication systems and kinematic models in virtual simulations, and a solid foundation can be laid for unmanned systems to formulate and execute complex strategies in a fully virtual environment.

[0125] Please note that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The above embodiments only illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A virtual-real fusion verification and testing system for an unmanned system model, characterized in that, The system includes: a main control system, a virtual simulation system, an information acquisition module, a platform control system, an unmanned platform measurement and control device, an experimental measurement and control link, and a test link; wherein: The main control system is configured to: generate control and configuration command signals, collect test data, and perform data analysis and result determination. The virtual simulation system is configured to reproduce the physical characteristics, equipment parameters, and human-computer interaction logic of the real environment, including a digital twin model corresponding to the real environment; the virtual simulation system includes a virtual unmanned platform, a channel model, a communication terminal model, and a virtual simulation scene; The information acquisition module includes sensors and signal processing devices; the sensors are configured to monitor, reconnoiter, and acquire image and video information; the signal processing devices are configured to receive image and video information acquired by the sensor module, filter, amplify, convert, linearize, standardize, and extract features from the image and video information, encapsulate the obtained information into data packets or data streams, and send them to the subject link; The platform control system is configured to: manage and control the motion behavior of the unmanned platform, receive control commands from the main control system, and return platform status information to the main control system via a 5G-MESH hybrid network; the platform status information includes position, attitude, velocity, and acceleration; The unmanned platform monitoring and control device is configured to: receive control and configuration commands from the main control system to the unmanned platform, and send them to the unmanned platform's information acquisition module, platform control system, and communication module; and send all service signals and status information generated by the unmanned platform's information acquisition module, as well as parameters and status information generated by the platform control system and communication module, back to the main control system via the 5G-MESH hybrid network. The test telemetry and control link includes a platform end installed on the unmanned platform and a ground end deployed on the ground. The test telemetry and control link uses 5G as the backbone network and MESH networking as a supplementary 5G-MESH hybrid network. The test telemetry and control link is configured to: collect status monitoring data and application service data of the unmanned platform and the test link; monitor the operation of the test link during the test as the basis for evaluating the model; upload test control and configuration data; perform behavior control and parameter configuration on the unmanned platform and the test link; and set test conditions to make the unmanned platform move to the desired position. The test link includes a communication module and a ground communication terminal, which are configured to: establish a communication link between an unmanned platform and a ground communication terminal in a real environment during the test; the construction of the communication link is optimized according to the verification requirements to support the collection and analysis of experimental data; the communication module and the ground communication terminal communicate through a mobile ad hoc network.

2. The unmanned system model virtual-real fusion verification and testing system according to claim 1, characterized in that, The main control system is configured to generate control and configuration command signals; specifically, this includes: generating control and configuration commands for physical equipment and generating control and configuration commands for the virtual simulation system; wherein: The generation of control and configuration instructions for physical equipment includes: the generation of platform control instructions, subject link control and configuration instructions, and sensor control instructions for the information acquisition module; Platform control commands control the motion of the platform; The test link control and configuration instructions include: communication module control and configuration instructions and communication terminal control and configuration instructions, which configure the operating frequency band, transmission power and network protocol of the communication module and the ground communication terminal respectively; The sensor control commands of the information acquisition module control the operation of the sensors, including pan-tilt rotation, searching, tracking, taking pictures, and recording videos; The generation of control and configuration instructions for the virtual simulation system includes: virtual platform control instructions, virtual subject link control and configuration instructions, and virtual sensor control instructions; Virtual platform control commands enable motion control of the virtual platform; The virtual subject link control and configuration instructions configure the operating frequency band, transmit power, network protocol, channel type, bandwidth, noise power spectral density, and multipath effect parameters of the communication module model and communication terminal model; Virtual sensor control commands enable the operation control of virtual sensors, including gimbal rotation, searching, tracking, taking pictures, and recording videos; The system generates virtual platform control commands and virtual sensor control commands corresponding to the physical platform based on the status information of the physical platform and the sensors.

3. The unmanned system model virtual-real fusion verification and testing system according to claim 2, characterized in that, The main control system is configured to collect test data; specifically, this includes: Data during the model verification process is collected using communication performance parameter acquisition unit, service signal data acquisition unit, motion state data acquisition unit, and working state data acquisition unit. The communication performance parameter acquisition unit is used to collect service data frame information, bit error rate, packet loss rate, and latency information of physical communication devices and virtual communication devices; The service signal data acquisition unit is used to acquire image and video information in real and virtual environments; The motion state data acquisition unit is used to collect the motion state of the unmanned platform, including position, attitude, velocity, and acceleration. The working status data acquisition unit is used to transmit the working status information of communication equipment and sensors back to the user.

4. The unmanned system model virtual-real fusion verification and testing system according to claim 1, characterized in that, The main control system is configured to perform data analysis and result determination; specifically including: The confidence levels of the communication system model and kinematic model are analyzed and determined, including communication performance data analysis and kinematic performance data analysis. Kinematic performance data analysis enables comparative analysis of the position, attitude, velocity, and acceleration information of unmanned platforms and virtual unmanned platforms; Communication performance data analysis compares and analyzes the service data frame information, bit error rate, packet loss rate, and latency information of physical communication devices and virtual communication devices.

5. The unmanned system model virtual-real fusion verification and testing system according to claim 4, characterized in that, For virtual simulation systems: The virtual unmanned platform includes a kinematic model, a mission system, and a communication module model. The kinematic model describes the platform's physical motion characteristics, including changes in position, attitude, velocity, and acceleration. The mission system uses onboard sensors to complete image and video data acquisition tasks. The channel model simulates in real time the path loss, channel delay, multipath fading, interference, and noise of service signals during transmission in a real environment; Virtual simulation scenes are generated by modeling real scenes on a proportional scale.

6. The unmanned system model virtual-real fusion verification and testing system according to claim 5, characterized in that, For the test and control link: The telemetry and control (TT&C) platform includes a TT&C platform module and a TT&C antenna. The TT&C platform connects to the unmanned platform TT&C device, receives platform status data, payload status data, and parameters and status data of the tested link collected by the unmanned platform TT&C device, and transmits them back to the ground terminal of the TT&C chain via a 5G-MESH hybrid network. At the same time, it receives control and configuration commands from the ground terminal via the 5G-MESH hybrid network, sends them to the unmanned platform TT&C device, and controls and configures the platform, its supporting payload, and physical communication equipment. The TT&C platform is powered by the unmanned platform's built-in power supply.

7. The unmanned system model virtual-real fusion verification and testing system according to claim 6, characterized in that, For the test and control link: The ground terminal of the telemetry and control chain includes a ground terminal host, a ground antenna, and a battery. The ground terminal host is powered by the battery. The ground terminal is connected to the main control system and receives telemetry data from the unmanned platform through a 5G-MESH hybrid network and sends it to the main control system. At the same time, it receives control and configuration commands from the main control system and uploads them to the unmanned platform through the 5G-MESH hybrid network.

8. A method for verifying and testing the virtual-real fusion of an unmanned system model, characterized in that, The method utilizes the system as described in any one of claims 1-7 to perform virtual-real fusion verification tests of unmanned system models; the method includes: The communication system model is verified and revised; the communication system model includes the communication equipment model and the channel model. The kinematic model of the unmanned platform was verified and corrected.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements the virtual-real fusion verification and testing method for an unmanned system model as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the virtual-real fusion verification and testing method for an unmanned system model as described in claim 8.

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