Air-based platform dynamic throwing type unmanned aerial vehicle simulation system

Abstract

The invention belongs to the technical field of unmanned aerial vehicle cluster flight simulation, and discloses an air-based platform dynamic throwing type unmanned aerial vehicle simulation system, which comprises a launching control module, a rocket projectile launching trajectory calculation module and a trajectory generation module, the trajectory and dynamics module is used for simulating the flying, separating and throwing process of the projectile body; the unmanned aerial vehicle behavior module is used for realizing unmanned aerial vehicle physical behavior, animation state and collision detection; the user interaction module is used for providing an interface for interaction between a user and the simulation system; all the modules cooperatively work through data interaction; the system is based on a Pawn-Actor object model, and constructs core entities including a launching ship, a rocket projectile, an unmanned aerial vehicle and a target ship parent class. According to the dynamic throwing type unmanned aerial vehicle simulation system for the air-based platform, a user who needs to throw the unmanned aerial vehicle in the air can be used for testing a cluster cooperation algorithm of the user.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of unmanned aerial vehicle cluster flight simulation, and in particular to an air-based platform dynamic dispensing unmanned aerial vehicle simulation system. BACKGROUND

[0002] Current unmanned aerial vehicle simulation technology is mostly concentrated on flight control and task simulation in a single airfield scenario, and the core architecture is usually based on MATLAB / Simulink and the like to build a mathematical model, or a semi-physical simulation platform is used to integrate a flight control computer, a three-axis turntable and the like.

[0003] In recent years, with the popularity of the UE4 engine, some research has shifted to high-fidelity virtual environment construction, for example, an AirSim-PX4-ROS framework supports autonomous navigation and obstacle avoidance of an unmanned aerial vehicle in UE4.

[0004] However, the existing system still has a significant gap in the field of dynamic dispensing multi-vehicle cooperative simulation, especially in the complex scenario of interaction between an air-based platform and a dynamic target at sea, and lacks support for setting a dispensing area, dynamic adjustment of a target and real-time verification of a cluster algorithm. SUMMARY

[0005] The application aims to provide an air-based platform dynamic dispensing unmanned aerial vehicle simulation system, which is developed based on an Unreal Engine platform, uses a cesium for unreal plug-in to build a global scene, and starts simulation after a ship at sea vertically launches a rocket projectile to propel an unmanned aerial vehicle load to a specified position for dispensing. The system can set a dispensing area, place a target boat in a search area of the unmanned aerial vehicle, and adjust the position and attitude of the target boat. The simulation system can be used by users who need to test the cluster cooperative algorithm of an air dispensing unmanned aerial vehicle.

[0006] To achieve the above-mentioned purpose, the application provides an air-based platform dynamic dispensing unmanned aerial vehicle simulation system, which is realized based on an Unreal Engine and comprises:

[0007] A launch control module for calculating a rocket projectile launch trajectory and generating a trajectory;

[0008] A trajectory and dynamics module for simulating the flight, separation and dispensing process of a projectile body;

[0009] An unmanned aerial vehicle behavior module for realizing physical behavior, animation state and collision detection of the unmanned aerial vehicle;

[0010] A user interaction module for providing an interface for user interaction with the simulation system;

[0011] The launch control module, the trajectory and dynamics module, the UAV behavior module and the user interaction module work cooperatively through data interaction.

[0012] Preferably, the air-based platform dynamic throwing UAV simulation system is based on a Pawn-Actor object model, and constructs core entities including a launch ship, a rocket, a UAV and a target ship parent class.

[0013] Preferably, the launch ship adds a spline component at the launch bay position of the ship, and based on the vertical launch characteristics of the rocket, the flight trajectory of the rocket is determined according to the positions of the target point and the ship.

[0014] The flight trajectory of the rocket is divided into three stages of a climbing stage, a cruising stage and a diving stage, and the trajectory spline is generated by the spline component through control of the start and end point coordinates of the cruising stage, in combination with the four coordinates of the launch point, the target point, the cruising stage start point and the cruising stage end point, and the specific content is as follows.

[0015] First, let the launch point S(x s , y s , z s ) and the target point T(x t , y t , z t ), wherein x s , y s , z s represent the x, y, z coordinate values of point S in the Cartesian coordinate system; x t , y t , z t represent the x, y, z coordinate values of point T in the Cartesian coordinate system.

[0016] Second, based on the launch point S and the target point T, the horizontal range D is calculated as follows:

[0017]

[0018] The cruising height H is calculated as follows:

[0019]

[0020] Among them, based on the range of the rocket, the corresponding cruising height is configured;

[0021] The climbing stage distance d Up is calculated as follows:

[0022]

[0023] The diving stage distance d Down is calculated as follows:

[0024]

[0025] The horizontal direction unit vector u is calculated as follows:

[0026]

[0027] Then, the cruise segment starting point P1 and the cruise segment ending point P2 are solved as follows:

[0028]

[0029] Finally, the four coordinates of the launch point S, the cruise segment starting point P1, the cruise segment ending point P2 and the target point T are input into the spline line component of the launch ship in sequence to generate a trajectory spline line.

[0030] Preferably, the rocket projectile flies along the generated trajectory spline line, and after the length of the spline line is obtained, the length is multiplied by a coefficient k; the result is input into a position node at a distance along the spline and a rotation node at a distance along the spline, respectively, the position node at a distance along the spline and the rotation node at a distance along the spline calculate and output corresponding position results and rotation results, respectively; finally, the position results and the rotation results are assigned to the rocket projectile.

[0031] Preferably, when the rocket projectile flies to the target point, the projectile body separates, and the magazine is slowed down by two-stage deceleration parachutes; when the second-stage deceleration parachute opens and the magazine is in a preset state, the magazine is regenerated at the current location of the magazine, and the original rocket projectile is hidden, so as to present the effect of deceleration of the magazine and prepare for the throwing of the unmanned aerial vehicle.

[0032] Preferably, the logic of the unmanned aerial vehicle includes updating the state of the propeller, collision destruction and view switching, and the specific contents are as follows:

[0033] Updating the state of the propeller: receiving rendering data returned by JSBSim, editing into an animation blueprint after dimension conversion, and using a state machine in the animation blueprint to control the process of the unmanned aerial vehicle from unfolding the arm and propeller to updating the state of the propeller after being thrown out by changing the flag bit;

[0034] Collision destruction: adding a collision box to the unmanned aerial vehicle to produce a destruction effect when the unmanned aerial vehicle is hit;

[0035] View switching: supporting the user to switch to a search view of the unmanned aerial vehicle or a third-person view to observe the formation state of the unmanned aerial vehicle or the target search process.

[0036] Preferably, a target ship parent class is created for multiple types of unmanned ships with consistent motion states, and the motion state of the unmanned ship is written in the target ship parent class, and the unmanned ship inherits the motion state of the target ship parent class.

[0037] Preferably, at the start of operation, the player controller uses a plugin to send and receive data with the lower-level machine, and runs PX4 and JSBSim in WSL2 through a script. At the same time, it sends the initial latitude and longitude coordinates and status of the drone to the lower-level machine. At this time, it does not receive rendering data from JSBSim.

[0038] Before starting the simulation, place the unmanned surface vessel (USV) and set the following parameters through the parameter configuration interface: the IP address and port number for receiving and unlocking the flight controller, the initial velocity, attitude, and throttle parameters when the aircraft is jettisoned, as well as the target area and the USV placement area; after setting, start the simulation.

[0039] Preferably, the user interaction module implements interaction through a UI interface, the specific content of which is as follows:

[0040] Users can trigger operation commands through the UI interface to start, pause, and stop the simulation;

[0041] The UI interface features a data display window to show real-time equipment data; it also supports switching the equipment's perspective, including the drone's search perspective and a third-person perspective, for viewing the drone's formation status and target search process.

[0042] The UI uses the Tick function to obtain real-time equipment data and save it to the game instance. When the user presses the equipment button on the UI, the corresponding structure data in the game instance is called. Switching to other equipment is completed through a preset process.

[0043] Preferably, when dropping drones from the ammunition magazine, for each drone dropped, the airborne platform dynamic dropping drone simulation system sends an unlock flight control MAVLink message to a user-defined port via the UDP protocol. After the MAVLink message is sent, the airborne platform dynamic dropping drone simulation system begins to receive rendering data from JSBSim to render the drone's status.

[0044] MAVLink messages are used in drone swarm collaboration algorithms.

[0045] Therefore, the present invention employs the above-mentioned airborne platform dynamic spraying UAV simulation system, which has the following beneficial effects:

[0046] (1) Multi-physics coupling simulation capability is improved: the application realizes multi-machine flight control parallel operation and high-precision physical simulation by calling PX4 and JSBSim in the WSL2 subsystem, supports rocket flight trajectory simulation, specifically adopts three-section parameterized modeling of climbing, cruising and diving, physical effects of missile separation, realizes through gravity adjustment and linear damping control, and supports the closed-loop verification of the cluster coordination algorithm after the unmanned aerial vehicle is thrown. This architecture solves the limitations of the prior art single machine simulation, and meets the dynamic scene multi-machine cooperative test demand.

[0047] (2) Dynamic scene configurability and real-time interaction enhancement: the application allows users to adjust the unmanned boat position, attitude and throwing area range before simulation through the target ship parent class inheritance mechanism and the dynamic parameter setting interface of the player controller, and dynamically displays equipment data through the UI interface, including latitude and longitude coordinates, speed, attitude angle and other information.

[0048] (3) Lightweight integration of MAVLink protocol: the application integrates the MAVLink message library through the UDP protocol, and automatically sends the standard data packet of the flight control unlocking instruction to the user specified port when the rocket is thrown by the unmanned aerial vehicle. This design allows the cluster algorithm to directly parse the MAVLink protocol without additional development of communication middleware, shortening the algorithm test cycle, such as the automatic triggering process from throwing the unmanned aerial vehicle to unlocking the flight control.

[0049] (4) Physical rendering cooperative optimization improves simulation stability: the application proposes a dynamic generation and hiding mechanism: when the second-stage deceleration parachute of the rocket is triggered, the original missile body is hidden and a new missile magazine is generated, and the physical simulation state is reset synchronously; after the unmanned aerial vehicle is thrown, the JSBSim real-time rendering data is returned, such as the throttle dimension conversion to animation blueprint, and then driving the propeller state machine switching, realizing the complete process from folding to unfolding to rotating. This cooperative strategy avoids the conflict between UE physical engine and external flight control data, and ensures the stability of motion attitude and coordinate transmission.

[0050] (5) Construction of full-process closed-loop test framework: the application realizes simulation process automation through the integration of the player controller and the lower machine plug-in: indirect call of WSL2 to start PX4 and JSBSim in the initialization stage; triggering the MAVLink message to unlock the flight control in the throwing stage; real-time synchronization of multi-source data such as ships, rockets, unmanned aerial vehicles and unmanned boats in the rendering stage. This framework supports users to complete the full-process test of “launching-throwing-cooperative attack-dynamic target response” with one key, filling the technical gap of dynamic throwing simulation of air-based platform.

[0051] The technical solutions of the application will be further described in detail below with the help of the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1is a design framework diagram of an air-based platform dynamic throwing type unmanned aerial vehicle simulation system of the present application;

[0053] Figure 2 is a design logic diagram of an air-based platform dynamic throwing type unmanned aerial vehicle simulation system of the present application;

[0054] Figure 3 is a player controller logic diagram in an embodiment of the present application;

[0055] Figure 4 is a UI interface design idea diagram in an embodiment of the present application;

[0056] Figure 5 is a cartridge landing schematic diagram in an embodiment of the present application;

[0057] Figure 6 is a schematic diagram of the state machine of the unmanned aerial vehicle propeller in an embodiment of the present application;

[0058] Figure 7 is an unmanned aerial vehicle collision destruction effect diagram in an embodiment of the present application;

[0059] Figure 8 is a UI interface equipment button schematic diagram in an embodiment of the present application;

[0060] Figure 9 is a UI main interface schematic diagram in an embodiment of the present application;

[0061] Figure 10 is an unmanned surface vehicle attitude setting interface schematic diagram in an embodiment of the present application;

[0062] Figure 11 is a simulation initial value setting interface schematic diagram in an embodiment of the present application;

[0063] Figure 12 is a rocket launch state interface diagram in an embodiment of the present application;

[0064] Figure 13 is an interface diagram after throwing the unmanned aerial vehicle in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The technical solutions of the present application are further described below through the drawings and embodiments.

[0066] EMBODIMENT

[0067] The air-based platform dynamic throwing type unmanned aerial vehicle simulation system of the present application is developed based on the Unreal Engine rendering engine, and a global large scene is built with the help of the Cesium For Unreal plug-in to meet the needs of multi-machine cooperative simulation and dynamic target interaction.

[0068] As Figure 1As shown, the airborne platform dynamic spraying UAV simulation system includes: a launch control module, used for rocket launch trajectory calculation and ballistic generation;

[0069] The ballistics and dynamics module is used to simulate the flight, separation, and ejection processes of projectiles;

[0070] The drone behavior module is used to implement the drone's physical behavior, animation status, and collision detection.

[0071] The user interaction module provides an interface for users to interact with the simulation system.

[0072] The modules work collaboratively through data interaction;

[0073] The airborne platform dynamic spraying UAV simulation system is based on the Pawn-Actor object model. The core entities constructed include: the launch ship, which is responsible for calculating the rocket launch trajectory and generating the ballistic trajectory;

[0074] Rockets are used to simulate the flight, separation, and dispersion of projectiles.

[0075] Unmanned aerial vehicles (UAVs) are used to monitor their physical behavior, animation status, and collision detection.

[0076] The target vessel parent class defines the base class for unmanned surface vessel motion and supports extension by multiple types of subclasses.

[0077] like Figure 2 As shown, the launch control module, ballistics and dynamics module, UAV behavior module, and user interaction module, together with the core entity, form a complete logical chain of pre-simulation initialization and in-simulation collaboration through data interaction.

[0078] In this embodiment, firstly, through the UI main interface such as Figure 9 As shown, the parameter setting interface is accessed as follows. Figure 11 As shown, complete the following configuration: set the port, target point, and initial parameters for the drone used by the user to receive unlock messages.

[0079] Then, as Figure 3 As shown, the player controller uses a plugin to send and receive data with the lower-level machine and sends commands to run multiple PX4 and JSBSim instances in WSL2 via scripts. Simultaneously, it sends the configured initial latitude and longitude coordinates and status of the UAV to the lower-level machine, while not receiving JSBSim rendering data at this time. Before clicking "Start Simulation," the unmanned surface vessel (USV) is placed, and the IP address and port number used by the user to receive and unlock the flight controller are set. The aircraft's status during deployment (initial velocity, attitude, and throttle), the target area, and the USV's placement area are also set, as shown below. Figure 10 As shown, simulation can only begin after the settings are completed.

[0080] The launching ship adds a spline component at the launching bay position of the ship, generates a trajectory spline based on the vertical launching characteristics of the rocket and the preset target point, and the specific content is as follows:

[0081] First, the flight trajectory of the rocket is determined according to the position of the target point and the ship.

[0082] Secondly, since the rocket range is divided into three categories of 10-20 kilometers, 20-100 kilometers and more than 100 kilometers, different flight trajectory algorithm parameters are configured for different ranges; at the same time, the flight trajectory of the rocket is divided into three stages of climbing section, cruising section and diving section, so the key parameters can be three variables: climbing section distance d Up , cruising height h, diving section distance d Down .

[0083] In the implementation process, it is found that only the start and end point coordinates of the cruising section need to be controlled, and the trajectory spline can be generated by drawing a spline through the four coordinates of the launching point, the target point, the cruising section start point and the cruising section end point.

[0084] In this embodiment, first, set the launching point S(x s , y s , z s ) and the target point T(x t , y t , z t ), wherein x s , y s , z s respectively represent the x, y, z coordinate values of point S in the Cartesian coordinate system; x t , y t , z t respectively represent the x, y, z coordinate values of point T in the Cartesian coordinate system.

[0085] Secondly, based on the launching point S and the target point T, the horizontal range D, the cruising height H, the climbing section distance d Up , the diving section distance d Down , and the horizontal unit vector u key parameters are calculated, and the formulas are as follows:

[0086]

[0087] Then, the cruising section start point P1 and the cruising section end point P2 are solved, as shown below:

[0088]

[0089] Finally, the S, P1, P2, T four coordinates are input into the spline component of the launching ship in order to generate the trajectory spline.

[0090] The rocket flies along the generated trajectory spline, obtains the length of the spline, and multiplies the length by a coefficient k, where k increases from 0 to 1 over time; the result is input into "get position node at distance along spline" and "get rotation node at distance along spline", respectively, and the two nodes calculate and output corresponding position results and rotation results, respectively; finally, the position results and rotation results are assigned to the rocket, realizing accurate flight along the spline, as shown in Figure 12 .

[0091] When the rocket reaches the target point, the projectile body separates, and the magazine slows down through two-stage deceleration parachutes; since the rocket moves along the spline, the gravity adjustment linear damping is enabled after switching to the simulated physics, and the UE's built-in physics engine is used to make it fall, which can cause instability in coordinate transmission and motion posture, so when the second-stage deceleration parachute opens and the magazine is in the state as shown in Figure 5 , the magazine is regenerated at this position and the original rocket is hidden to present the effect of the magazine decelerating and prepare for the aerial platform dynamic dispensing of unmanned aerial vehicles.

[0092] When the magazine dispenses unmanned aerial vehicles, the system sends a MAVLink message to unlock the flight control through the UDP protocol to the user's custom port in the rendering interface every time an unmanned aerial vehicle is dispensed, and the message is used for the unmanned aerial vehicle swarm coordination algorithm; after the MAVLink message is sent, the air-based platform dynamic dispensing of unmanned aerial vehicles simulation system starts to receive the rendering data of JSBSim, which is used to render the state of the unmanned aerial vehicle, and the dispensing process can be monitored in real time through the unmanned aerial vehicle interface, as shown in Figure 13 .

[0093] The logic in the unmanned aerial vehicle includes updating the propeller state, collision destruction, and view switching, where updating the propeller state includes the unmanned aerial vehicle arm unfolding and propeller rotation animation.

[0094] The propeller state is the rendering data returned by JSBSim, which is the throttle size, which is dimensionally converted and edited into the "transform (modify) bone" in the animation blueprint; in the animation blueprint, a state machine (as shown in Figure 6 ) is used to control the process of the unmanned aerial vehicle from unfolding the arms and propellers to updating the propeller state after being thrown out, and the purpose of switching between different stages is achieved by changing the flag bit.

[0095] Collision destruction: a collision box is added to the unmanned aerial vehicle to produce a destruction effect when it is hit, as shown in Figure 7 .

[0096] View switching: supports the user switching to the search view of the unmanned aerial vehicle or the third-person view to observe the formation state of the unmanned aerial vehicle or the target search process.

[0097] A target ship parent class is created for unmanned ships of various types and consistent motion states; the motion state of the unmanned ship is written in the target ship parent class, and each type of unmanned ship inherits the motion state of the target ship parent class.

[0098] In order to enable the user to monitor the real-time state of equipment such as unmanned aerial vehicles and target ships, the system designs a UI interface, as shown in Figure 4 The UI interface is the interface for the user to interact with the simulation system, and the user can realize operations such as starting, pausing and ending the simulation through the UI interface.

[0099] The UI interface provides a data display window for displaying real-time data of different equipment, and a view switching of different equipment, especially adding a search of the unmanned aerial vehicle and a third-person view, so that the user can view the formation state of the unmanned aerial vehicle and the search state of the unmanned ship.

[0100] The design logic of the UI interface is to obtain the data of each equipment, and save the real-time data of each equipment to the game instance, when the equipment button is pressed (as shown in Figure 8 The structure data in the corresponding game instance is obtained, such as dynamically displaying data, using the Tick function to realize real-time acquisition of the data of the equipment (such as position, attitude, etc.), and through a preset process control when switching different equipment.

[0101] Therefore, the air-based platform dynamic throwing type unmanned aerial vehicle simulation system has the following beneficial effects:

[0102] (1) The present application realizes multi-aircraft software-in-the-loop simulation by indirectly calling the WSL2 subsystem to run PX4, receives JSBSim unmanned aerial vehicle data to drive unmanned aerial vehicle motion rendering, and realizes dynamic rendering of a three-dimensional scene by fusing aircraft attitude, ship coordinates and other multi-source data.

[0103] (2) The present application integrates the MAVLink message library into the simulation system through the UDP protocol, and automatically sends a standardized data packet of the flight control unlocking instruction to the user-specified port when the rocket projectile throws the unmanned aerial vehicle payload.

[0104] (3) The present application supports the user to set the air-based platform launch point, throwing area range, target ship position / attitude in real time through the UI interface based on the dynamic parameter interface of the player controller, and can also automatically generate rocket trajectory key coordinate points P1 and P2 based on the "near / medium / long" range grading model, realize batch configuration of the initial state (height, initial speed) of multiple aircraft, and improve the scene adaptability and operation efficiency.

[0105] (4) The present application explicitly generates the ballistic trajectory generation method of rocket propulsion scattering, decomposes the trajectory into three stages of climbing, cruising and diving, realizes trajectory visualization through spline line components; at the time of projectile separation, the original rocket is hidden and a new cartridge is generated, the UE physical engine parameters and JSBSim simulation state are switched synchronously to solve the problem of coordinate drift.

[0106] (5) The present application constructs an automatic test flow based on a script engine, calls WSL2 to start PX4 and JSBSim through a player controller, triggers flight control unlocking and cluster algorithm verification in the unmanned aerial vehicle scattering stage, finally realizes the full-link simulation data closed loop of "rocket projectile launch-projectile separation-unmanned aerial vehicle scattering-dynamic target response-coordinated attack", and meets the full-process test requirements.

[0107] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: it can still modify or equivalently replace the technical solutions of the present application, and these modifications or equivalent replacements also cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. An air-based platform dynamic dispensing drone simulation system, comprising: The system is based on UnrealEngine implementation, comprising: a launch control module for calculating the trajectory of the rocket and generating the trajectory; a trajectory and dynamics module for simulating the flight, separation and scattering of the projectile; a UAV behavior module for realizing the physical behavior, animation state and collision detection of the UAV; a user interaction module for providing an interface for user interaction with the simulation system; the launch control module, the trajectory and dynamics module, the UAV behavior module and the user interaction module work cooperatively through data interaction.

2. The air-based platform dynamic drop-style UAV simulation system of claim 1, wherein, The air-based platform dynamic scattering UAV simulation system is based on the Pawn-Actor object model and constructs core entities, including a launch ship, a rocket, a UAV and a target ship parent class.

3. The air-based platform dynamic drop-style UAV simulation system of claim 2, wherein, The launch ship adds a spline component at the launch bay position of the ship, and based on the vertical launch characteristics of the rocket, the flight trajectory of the rocket is determined according to the positions of the target point and the ship; The flight trajectory of the rocket is divided into three stages: the climbing stage, the cruising stage and the diving stage. By controlling the start and end point coordinates of the cruising stage, the trajectory spline is generated by combining the four coordinates of the launch point, the target point, the cruising start point and the cruising end point, and the specific content is as follows: First, let's set the transmitting point S(x s , y s , z s ) and the target point T(x t , y t , z t ), where x s , y s , z s represent the x, y, z coordinate values of point S in the Cartesian coordinate system, and x t , y t , z t represent the x, y, z coordinate values of point T in the Cartesian coordinate system. Secondly, based on the launch point S and the target point T, the horizontal range D is calculated as follows: The cruising height H is calculated as follows: Wherein, based on the range of the rocket, the corresponding cruising height is configured; The distance d of the climb section is calculated Up As follows: Calculating the dive segment distance d Down As follows: The horizontal unit vector u is calculated as follows: Then, the cruising start point P1 and the cruising end point P2 are solved as follows: P1 = (x s + d Up · u x , y s + d Up · u y , H); P2 = (x t -d Down ·u x , y t -d Down ·u y , H); Finally, the launch point S, the cruising start point P1, the cruising end point P2 and the target point T are input into the spline component of the launch ship in sequence to generate the trajectory spline.

4. The air-based platform dynamic drop-style UAV simulation system of claim 3, wherein, The rocket flies along the generated trajectory spline, and after obtaining the length of the spline, it is multiplied by the coefficient k; the results are respectively input into the position node at the distance along the spline and the rotation node at the distance along the spline, and the position node at the distance along the spline and the rotation node at the distance along the spline are calculated and output respectively; finally, the position result and the rotation result are assigned to the rocket.

5. The air-based platform dynamic drop-style UAV simulation system of claim 2, wherein, After the rocket flies to the target point, the projectile separates, and the magazine is decelerated by two-stage deceleration parachute; when the second-stage deceleration parachute opens and the magazine is in a preset state, the magazine is regenerated at the current position of the magazine, and the original rocket is hidden, so as to present the effect of the magazine deceleration and prepare for the scattering of the UAV.

6. The air-based platform dynamic drop-style UAV simulation system of claim 2, wherein, The logic of the UAV includes updating the propeller state, collision destruction and view switching, and the specific content is as follows: Updating the propeller state: receiving the rendering data returned by JSBSim, editing it into the animation blueprint after dimension conversion, and using a state machine in the animation blueprint to control the process of the UAV from unfolding the arm and propeller to updating the propeller state after being thrown out by changing the flag; Collision destruction: adding a collision box to the UAV to produce a destruction effect when the UAV is hit; View switching: supporting the user to switch to the search view or the third-person view of the UAV to observe the formation state or the target search process of the UAV.

7. The air-based platform dynamic drop-style UAV simulation system of claim 2, wherein, A target ship parent class is created for unmanned ships of various types and consistent motion states, and the motion state of the unmanned ship is programmed in the target ship parent class, and the unmanned ship inherits the motion state of the target ship parent class.

8. The air-based platform dynamic drop-style UAV simulation system of claim 2, wherein, When starting running, the player controller uses the plug-in to realize data transmission and reception with the lower machine, runs PX4 and JSBSim in WSL2 through the script, and sends the initial latitude and longitude coordinates and the state of the unmanned aerial vehicle to the lower machine at this time, and does not receive the rendering data of JSBSim. Before starting simulation, the unmanned ship is placed, and the following parameters are set through the parameter configuration interface: the IP and port number used by the user to receive the unlocked flight control, the initial speed, attitude, throttle parameter when the aircraft is thrown, and the target area and the placement area of the unmanned ship; after setting, start simulation.

9. The air-based platform dynamic drop-style UAV simulation system of claim 8, wherein, The user interaction module realizes interaction through the UI interface, and the specific content is as follows: The user triggers the operation instruction through the UI interface to start, pause and end the simulation. The UI interface sets a data display window to display the real-time data of the equipment; supports the view angle switching of the equipment, which includes the search view angle of the unmanned aerial vehicle and the third person view angle, which is used to view the formation state of the unmanned aerial vehicle and the target search process. The UI interface obtains the real-time data of the equipment through the Tick function in real time, and saves the obtained real-time data to the game instance; when the user presses the equipment button on the UI interface, the corresponding structure data in the game instance is called; when other equipment is switched, the preset process control is completed.

10. The air-based platform dynamic drop-style UAV simulation system of claim 8, wherein, When the magazine throws the unmanned aerial vehicle, the air-based platform dynamic throwing unmanned aerial vehicle simulation system sends the MAVLink message of unlocking the flight control to the user's custom port through the UDP protocol every time an unmanned aerial vehicle is thrown; after the MAVLink message is sent, the air-based platform dynamic throwing unmanned aerial vehicle simulation system starts to receive the rendering data of JSBSim, which is used to render the state of the unmanned aerial vehicle. The MAVLink message is used for unmanned aerial vehicle cluster coordination algorithm.

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