Search and rescue aircraft search and rescue system and method

Abstract

The application discloses a search and rescue type aircraft search and rescue system and method, and the system comprises a task environment modeling subsystem, a scheme assisted generation subsystem, a simulation solving subsystem, a visualization subsystem and a task rehearsal simulation verification subsystem; the task environment modeling subsystem is used for task environment modeling; the scheme assisted generation subsystem is used for generating a search and rescue scheme; the simulation solving subsystem is used for search and rescue scheme optimization; the visualization subsystem is used for simulation process visualization and provides a man-machine interactive interface; and the task rehearsal simulation verification subsystem is used for realizing man-in-the-loop task rehearsal simulation verification. The application can simulate various sea accident scenes accurately, optimize search and rescue schemes and resource allocation, improve personnel training effect and multi-department cooperation ability, and effectively improve sea search and rescue efficiency, guarantee life and property safety, reduce environmental pollution and promote the development of sea search and rescue technology and theory.

Description

Technical Field

[0001] This invention relates to the field of maritime emergency rescue technology, and in particular to a search and rescue system and method for search and rescue aircraft. Background Technology

[0002] With the continuous development of the global economy and the increasing prosperity of international trade, maritime transport occupies a vital position in the world economy. This has led to an increasingly severe maritime safety situation, and maritime search and rescue missions are facing unprecedented challenges. Merchant ships, fishing vessels, passenger ships, and other types of vessels traverse vast sea areas, significantly increasing the probability of maritime accidents such as collisions, groundings, fires, and sinkings. Once an accident occurs, it often results in serious consequences such as casualties, property damage, and environmental pollution. Traditional maritime search and rescue operations face numerous difficulties in practice. For example, the complex and changeable maritime environment, and severe weather such as strong winds, giant waves, and dense fog can seriously affect search and rescue operations and reduce efficiency. Furthermore, maritime accidents are highly uncertain, with the incident, location, scale, and type of vessel varying greatly, posing a significant challenge to the rational allocation of search and rescue resources. In addition, maritime search and rescue involves multiple departments and agencies, requiring efficient command and coordination mechanisms for collaboration. However, in practice, problems such as poor information communication and chaotic command and dispatch frequently occur.

[0003] Traditional maritime search and rescue simulation systems often lack precision in simulating complex marine meteorological conditions when building marine environmental models. They exhibit significant errors in simulating dynamic changes in wind direction and speed under different weather conditions, as well as the height, frequency, and direction of waves. This makes it difficult to accurately reflect the obstacles and impacts of the real environment on search and rescue operations when simulating maritime search and rescue scenarios under extreme weather conditions, potentially leading to significant risks in practical applications of the developed search and rescue strategies. The design of ship and aircraft models is relatively simple and idealized, only including a few common merchant ships, passenger ships, and fishing vessels, with insufficient simulation of the physical characteristics, structural features, and emergency response mechanisms of some special vessels. The simulation of search and rescue resource allocation is overly idealistic, often assuming that search and rescue resources can be allocated to the accident site in a timely and allocated manner. However, in reality, due to the uneven distribution of search and rescue resources across different regions and the inconvenient transportation in some remote sea areas, resource allocation is subject to many limitations. Furthermore, some systems have poor human-computer interaction, with interfaces that are not intuitive and concise enough, making operation difficult for non-technical personnel and requiring significant time to learn the system's operation procedures and parameter settings.

[0004] Therefore, establishing a simulation verification system for amphibious aircraft search and rescue modes that can clearly demonstrate scenarios and patterns, quantify evaluation processes and elements, and allow for immersive participation in verification and training, and can support demonstration, guide design, and assist in application, is of great significance for maritime search and rescue. Summary of the Invention

[0005] The technical problem this invention aims to solve is to provide a search and rescue system and method for amphibious aircraft, employing virtual simulation to verify the feasibility and effectiveness of amphibious aircraft search and rescue operation modes. Based on research findings on amphibious aircraft search and rescue operation methods and modes, as well as research results on amphibious aircraft search and rescue equipment modification schemes and key technologies, this invention develops an amphibious search and rescue aircraft system. It aims to clearly demonstrate scenarios and modes, quantify evaluation processes and elements, and provide immersive participation in verification and training, thereby supporting demonstration, guiding design, and assisting in application.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a search and rescue system for search and rescue aircraft, the system comprising a mission environment modeling subsystem, a scheme auxiliary generation subsystem, a simulation calculation subsystem, a visualization subsystem, and a mission pre-simulation verification subsystem; The task environment modeling subsystem is data-connected with the scheme-aid generation subsystem, the simulation solution subsystem, the visualization subsystem, and the task pre-simulation verification subsystem, and is used for task environment modeling. The scheme-aided generation subsystem is connected to the task environment modeling subsystem, the simulation calculation subsystem, and the visualization subsystem for generating search and rescue schemes; The simulation solution subsystem is connected to the task environment modeling subsystem, the visualization subsystem, and the task pre-simulation verification subsystem for data optimization of search and rescue plans; The visualization subsystem is connected to the task environment modeling subsystem, the simulation solution subsystem, and the task pre-simulation verification subsystem for data visualization of the simulation process and provision of human-computer interaction interface; The task pre-simulation verification subsystem is connected to the task environment modeling subsystem, the simulation solution subsystem, and the visualization subsystem for data integration, and is used to realize human-in-the-loop task pre-simulation verification.

[0007] As an optional implementation, in the first aspect of the present invention, the mission environment modeling subsystem includes a distress target model, a search and rescue force / equipment model, a system environment model, a professional analysis method model, a system analysis method model, a search and rescue operation mode, a mission information model, a route information model, a search plan model, and a rescue plan model. The distress target model includes distress personnel models, aircraft models, ship models, submarine models, and related payload / cooperative target models, which are used to provide distress target information; The search and rescue force / equipment models include amphibious aircraft models, airborne equipment models, airport and port models, and command and control center models, which are used to provide search and rescue force information; The system environment model includes a marine environment model and a scene terrain model, which are used to provide search and rescue environment information; The professional analysis method model includes a coordinate transformation model, a time transformation model, and a linear regression model, which are used for coordinate transformation, time transformation, and planning problem modeling. The system analysis method model includes a trajectory and attitude calculation model, a search plan generation model, a rescue plan generation model, an evaluation index system, and a mission pre-simulation evaluation model, which are used for system analysis. The search and rescue operation mode is used to generate search and rescue method information; the mission information model is used to generate search and rescue mission information; the route information model is used to generate search and rescue route information; the search plan model is used to generate search plan information; and the rescue plan model is used to generate rescue plan information.

[0008] As an optional implementation, in the first aspect of the present invention, the scheme-assisted generation subsystem includes a task scenario setting module, a scheme pre-calculation module, a scheme optimization and evaluation module, and a task scheme distribution module, for assisting in the generation of search and rescue schemes.

[0009] As an optional implementation, in the first aspect of the present invention, the task pre-simulation verification subsystem includes a collaborative task scenario module, a collaborative task pre-simulation module, a collaborative task monitoring module, and a collaborative task analysis and evaluation module, used for performing search and rescue task simulation verification and analysis and evaluation.

[0010] A second aspect of this invention discloses a search and rescue method for search and rescue aircraft, the method comprising: S1, obtain search and rescue needs information; S2, using the task environment modeling subsystem, the search and rescue demand information is processed to obtain task environment information; The mission environment information includes information on the distressed target, information on the search and rescue forces, information on the search and rescue environment, information on the search and rescue methods, information on the search and rescue mission, information on the search and rescue route, information on the search plan, and information on the rescue plan. S3, using the scheme-assisted generation subsystem, the task environment information is processed to obtain a preliminary set of search and rescue task schemes; S4. Using the simulation solution subsystem, the preliminary search and rescue mission plan set is processed to obtain the search and rescue mission plan; S5, using the visualization subsystem, the simulation process of the search and rescue mission plan is visualized and a human-computer interaction interface is provided; S6. Using the mission pre-simulation verification subsystem, the search and rescue mission plan is simulated, verified, analyzed, and evaluated to obtain the search and rescue mission verification results.

[0011] As an optional implementation, in the second aspect of the present invention, the scheme-assisted generation subsystem processes the task environment information to obtain a preliminary search and rescue task scheme set, including: S31, using the task scenario setting module, the task environment information is processed to obtain distress situation parameter information; the distress situation parameter information includes search and rescue task scenario, task scenario information, and task parameter information; S32, using the scheme pre-calculation module, the distress situation parameter information is processed to obtain a first search and rescue scheme set, which includes N search and rescue schemes, where N is a positive integer; S33, using the scheme optimization and evaluation module, the first search and rescue scheme set is processed to obtain a preliminary search and rescue mission scheme set.

[0012] As an optional implementation, in the second aspect of the present invention, the step of using a simulation solution subsystem to process the preliminary search and rescue mission plan set to obtain a search and rescue mission plan includes: S41, expand and adjust the preliminary search and rescue mission plan set to obtain a second search and rescue mission plan set; S42, perform task calculation and task deduction on the second set of search and rescue mission schemes to obtain the third set of search and rescue mission schemes; S43, Evaluate the effectiveness of the third set of search and rescue mission plans to obtain a search and rescue mission plan.

[0013] As an optional implementation, in the second aspect of the present invention, the step of using the mission pre-simulation verification subsystem to simulate and evaluate the search and rescue mission plan to obtain the search and rescue mission verification results includes: S61, using the collaborative task scenario module, the search and rescue task plan is processed to obtain simulation scenario information; S62, using the collaborative task pre-simulation module, the simulation scenario information is processed to obtain collaborative task pre-simulation information; S63, The collaborative task pre-play information is processed using the collaborative task monitoring module to obtain the collaborative task pre-play result; S64, using the collaborative task analysis and evaluation module, analyze and evaluate the collaborative task pre-rehearsal results to obtain the search and rescue task verification results.

[0014] As an optional implementation, in the second aspect of the present invention, the step of using a collaborative task analysis and evaluation module to analyze and evaluate the collaborative task rehearsal results to obtain search and rescue task verification results includes: S641, Construct a set of collaborative task pre-rehearsal evaluation indicators; the set of collaborative task pre-rehearsal evaluation indicators includes support capability indicators, search capability indicators, rescue capability indicators, wave resistance capability indicators, and medical rescue capability indicators; S642, process the set of collaborative task pre-rehearsal evaluation indicators to obtain the search and rescue task verification results.

[0015] As an optional implementation, in the second aspect of the present invention, processing the set of collaborative task pre-rehearsal evaluation indicators to obtain search and rescue task verification results includes: S6421, Process the support capability indicators to obtain the support capability evaluation result; S6422, Process the search capability indicators to obtain the search capability evaluation results; S6423, Process the rescue capability indicators to obtain the rescue capability evaluation results; S6424, Process the wave resistance index to obtain the wave resistance evaluation result; S6425, Process the medical rescue capability indicators to obtain the medical rescue capability evaluation results; S6426, The evaluation results of the support capability, search capability, rescue capability, wave resistance capability, and medical rescue capability are integrated to obtain the search and rescue mission verification results.

[0016] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: This invention realizes a search and rescue system and method for search and rescue aircraft. By accurately simulating various maritime accident scenarios, optimizing search and rescue plans and resource allocation, it improves personnel training effectiveness and multi-departmental collaboration capabilities, thereby effectively improving maritime search and rescue efficiency, ensuring the safety of life and property, reducing environmental pollution, and promoting the development of maritime search and rescue technology and theory. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of the structure of a search and rescue aircraft search and rescue system disclosed in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a search and rescue method for a search and rescue aircraft disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the application process of the search and rescue aircraft search and rescue system disclosed in the embodiments of the present invention; Figure 4 This is a schematic diagram of a hardware device deployment scenario disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of system integration disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of the system integration interface disclosed in an embodiment of the present invention; Figure 7 This is a system integration logic diagram disclosed in an embodiment of the present invention; Figure 8 This is a 3D model of a person who has fallen into the water, as disclosed in an embodiment of the present invention; Figure 9 This is a three-dimensional model of an aircraft in the system disclosed in the embodiments of the present invention; Figure 10 This is the search and rescue command center model and attributes disclosed in the embodiments of the present invention; Figure 11 This is a marine environment model 1 for different sea conditions disclosed in the embodiments of the present invention; Figure 12 This is the marine environment model 2 for different sea conditions disclosed in the embodiments of the present invention; Figure 13 This is the marine environment model 3 for different sea conditions disclosed in the embodiments of the present invention; Figure 14 This is a schematic diagram illustrating the global weather adjustment effect disclosed in an embodiment of the present invention; Figure 15 This is a schematic diagram of the weather parameter setting interface disclosed in an embodiment of the present invention; Figure 16 This is a schematic diagram of the topographic scene of the Bohai Sea area disclosed in an embodiment of the present invention; Figure 17 This is a structural diagram of the auxiliary generation subsystem of the scheme disclosed in the embodiments of the present invention; Figure 18 This is a structural diagram of the simulation solution subsystem disclosed in an embodiment of the present invention; Figure 19 This is a schematic diagram of the task pre-simulation verification subsystem disclosed in an embodiment of the present invention; Figure 20 This is a structural diagram of the task pre-simulation verification subsystem disclosed in an embodiment of the present invention; Figure 21This is a schematic diagram of the virtual collaborative simulation verification of task pre-playing disclosed in an embodiment of the present invention; Figure 22 This is a schematic diagram of the task pre-simulation semi-physical simulation verification disclosed in the embodiments of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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.

[0020] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] This invention discloses a search and rescue system and method for search and rescue aircraft. The system includes a mission environment modeling subsystem, a scheme auxiliary generation subsystem, a simulation calculation subsystem, a visualization subsystem, and a mission pre-simulation verification subsystem. The mission environment modeling subsystem is used for mission environment modeling; the scheme auxiliary generation subsystem is used for generating search and rescue schemes; the simulation calculation subsystem is used for optimizing search and rescue schemes; the visualization subsystem is used for visualizing the simulation process and providing a human-computer interaction interface; and the mission pre-simulation verification subsystem is used for human-in-the-loop mission pre-simulation verification. This invention improves personnel training effectiveness and multi-departmental collaboration capabilities by accurately simulating various maritime accident scenarios, optimizing search and rescue schemes and resource allocation, thereby effectively improving maritime search and rescue efficiency, ensuring the safety of life and property, reducing environmental pollution, and promoting the development of maritime search and rescue technology and theory. These are described in detail below.

[0023] Example 1 Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a search and rescue aircraft search and rescue system disclosed in an embodiment of the present invention. Figure 1 The search and rescue aircraft search and rescue system described herein is applied in the field of maritime emergency rescue technology, and the embodiments of this invention are not limited thereto. Figure 1 As shown, the search and rescue aircraft search and rescue system includes a mission environment modeling subsystem, a scheme auxiliary generation subsystem, a simulation calculation subsystem, a visualization subsystem, and a mission pre-simulation verification subsystem. The task environment modeling subsystem is data-connected with the scheme-aid generation subsystem, the simulation solution subsystem, the visualization subsystem, and the task pre-simulation verification subsystem, and is used for task environment modeling. The scheme-aided generation subsystem is connected to the task environment modeling subsystem, the simulation calculation subsystem, and the visualization subsystem for generating search and rescue schemes. The simulation solution subsystem is connected to the task environment modeling subsystem, the visualization subsystem, and the task pre-simulation verification subsystem for data optimization of search and rescue plans; The visualization subsystem is connected to the task environment modeling subsystem, the simulation solution subsystem, and the task pre-simulation verification subsystem for data visualization of the simulation process and provision of human-computer interaction interface; The task pre-simulation verification subsystem is connected to the task environment modeling subsystem, the simulation solution subsystem, and the visualization subsystem for data connection, and is used to realize human-in-the-loop task pre-simulation verification.

[0024] Optionally, the mission environment modeling subsystem includes a distress target model, a search and rescue force / equipment model, a system environment model, a professional analysis method model, a system analysis method model, a search and rescue operation mode, a mission information model, a route information model, a search plan model, and a rescue plan model. The distress target model includes distress personnel models, aircraft models, ship models, submarine models, and related payload / cooperative target models, which are used to provide distress target information; The search and rescue force / equipment models include amphibious aircraft models, airborne equipment models, airport and port models, and command and control center models, which are used to provide search and rescue force information; The system environment model includes a marine environment model and a scene terrain model, which are used to provide search and rescue environment information; The professional analysis method model includes a coordinate transformation model, a time transformation model, and a linear regression model, which are used for coordinate transformation, time transformation, and planning problem modeling. The system analysis method model includes a trajectory and attitude calculation model, a search plan generation model, a rescue plan generation model, an evaluation index system, and a mission pre-simulation evaluation model, which are used for system analysis. The search and rescue operation mode is used to generate search and rescue method information; the mission information model is used to generate search and rescue mission information; the route information model is used to generate search and rescue route information; the search plan model is used to generate search plan information; and the rescue plan model is used to generate rescue plan information.

[0025] Optionally, the scheme-aided generation subsystem includes a task scenario setting module, a scheme pre-calculation module, a scheme optimization and evaluation module, and a task scheme distribution module, used to assist in the generation of search and rescue schemes.

[0026] Optionally, the mission simulation verification subsystem includes a collaborative mission scenario module, a collaborative mission simulation module, a collaborative mission monitoring module, and a collaborative mission analysis and evaluation module, used for simulation verification and analysis and evaluation of search and rescue missions.

[0027] As can be seen, the present invention realizes a search and rescue system and method for search and rescue aircraft. By accurately simulating various maritime accident scenarios, optimizing search and rescue plans and resource allocation, it improves personnel training effectiveness and multi-departmental collaboration capabilities, thereby effectively improving maritime search and rescue efficiency, ensuring the safety of life and property, reducing environmental pollution, and promoting the development of maritime search and rescue technology and theory.

[0028] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating a search and rescue method for a search and rescue aircraft disclosed in an embodiment of the present invention. Figure 2 The search and rescue method for search and rescue aircraft described herein is applied in the field of maritime emergency rescue technology, and the embodiments of this invention are not limited thereto. Figure 2 As shown, the search and rescue method for this search and rescue aircraft includes: S1, obtain search and rescue needs information; S2, using the task environment modeling subsystem, the search and rescue demand information is processed to obtain task environment information; The mission environment information includes information on the distressed target, information on the search and rescue forces, information on the search and rescue environment, information on the search and rescue methods, information on the search and rescue mission, information on the search and rescue route, information on the search plan, and information on the rescue plan. S3, using the scheme-assisted generation subsystem, the task environment information is processed to obtain a preliminary set of search and rescue task schemes; S4. Using the simulation solution subsystem, the preliminary search and rescue mission plan set is processed to obtain the search and rescue mission plan; S5, using the visualization subsystem, the simulation process of the search and rescue mission plan is visualized and a human-computer interaction interface is provided; S6. Using the mission pre-simulation verification subsystem, the search and rescue mission plan is simulated, verified, analyzed, and evaluated to obtain the search and rescue mission verification results.

[0029] Optionally, the scheme-assisted generation subsystem processes the task environment information to obtain a preliminary set of search and rescue task schemes, including: S31, using the task scenario setting module, the task environment information is processed to obtain distress situation parameter information; the distress situation parameter information includes search and rescue task scenario, task scenario information, and task parameter information; S32, using the scheme pre-calculation module, the distress situation parameter information is processed to obtain a first search and rescue scheme set, which includes N search and rescue schemes, where N is a positive integer; S321, Process the distress situation parameter information to obtain mission information; Establish a task allocation model and determine the cost-benefit function and constraints.

[0030] Initialization settings: Set the discrete time step and initialize the aircraft status (battery, position, etc.), mission set, and exploration rate. Strategy parameters, task price Initially 0.

[0031] Cycle cycle: (1) Bid generation: The aircraft bids according to its state using a bid function. Generate a bid; Among them, task price Indicates task j exist t The current lowest bid price at time t, initially 0, increases with each auction round; α and β are the learning rates. and They represent t The state of being at any given moment and the actions taken, the task j The priority is , It is an aircraft i Maximum energy, aircraft i Remaining energy is aircraft i With the task j The distance is γ is the discount factor.

[0032] (2) Competitive allocation: Bids are only made for tasks that meet the constraints, and the highest bidder is given priority in allocating tasks to aircraft; (3) Status update: The aircraft updates its range and load by 1. If the load exceeds the limit, it will exit directly. The mission records the time. If the timeout occurs, it will be marked as a failure and the price will be updated.

[0033] Policy optimization: Update parameters using policy gradients in the direction that increases expected reward.

[0034] Q-value update: Explore with probability (decaying to 0.1 with each round), iterate and correct the bidding strategy according to time-series difference, and dynamically decay to focus on efficient strategies.

[0035] Loop Iteration and Termination: Once the task allocation is completed and the iteration rounds are completed, the task allocation result is output, which is the task information.

[0036] S322, Process the task information to obtain route information; Step 1: Establish a 3D model and determine the cost function and constraints of the aircraft path planning problem. Also, establish the initial information for the Seagull Algorithm.

[0037] Step 2: Generate a certain number of individuals to form the initial population. Calculate the fitness value of each individual in the population, and select those with better fitness values ​​as the initial individuals for the population.

[0038] The method for generating a certain number of individuals in a population is as follows: in, The initial population was randomly selected. , , , n Population size; Will Mapped onto the domain of the population: ,in This is the lower limit of the search parameter range. This is the upper limit of the search parameter range. , This serves as the initial population. The initial population constructed using the method of this invention avoids the randomness problem caused by random initialization of the population.

[0039] Step 3: Perform iterative search using the Seagull Algorithm. In each iteration, update the individual's position based on the seagull's behavior and use a non-linear energy factor to update the strategy, causing it to move towards a lower fitness value.

[0040] Step 4: In the local search phase, a chaotic mapping is used to search the local solution space to make it escape the local optimum.

[0041] Step 5: Repeat Step 3 and Step 4 until the algorithm termination condition (maximum number of iterations or fitness value change threshold) is met.

[0042] Step 6: Output the optimal fitness value, which is the route information.

[0043] S323, Process the route to obtain a search plan; S324, The search scheme is processed to obtain a first set of search and rescue schemes.

[0044] S33, using the scheme optimization and evaluation module, the first search and rescue scheme set is processed to obtain a preliminary search and rescue mission scheme set. The preliminary search and rescue mission scheme set is then selected from the N search and rescue schemes. Optionally, the process of using the simulation solution subsystem to process the preliminary search and rescue mission plan set to obtain a search and rescue mission plan includes: S41, expand and adjust the preliminary search and rescue mission plan set to obtain a second search and rescue mission plan set; S42, perform task calculation and task deduction on the second set of search and rescue mission schemes to obtain the third set of search and rescue mission schemes; S43, Evaluate the effectiveness of the third set of search and rescue mission plans to obtain a search and rescue mission plan.

[0045] Optionally, the use of the mission pre-simulation verification subsystem to simulate, verify, and evaluate the search and rescue mission plan to obtain the search and rescue mission verification results includes: S61, using the collaborative task scenario module, the search and rescue task plan is processed to obtain simulation scenario information; S62, using the collaborative task pre-simulation module, the simulation scenario information is processed to obtain collaborative task pre-simulation information; S63, The collaborative task pre-play information is processed using the collaborative task monitoring module to obtain the collaborative task pre-play result; S64, using the collaborative task analysis and evaluation module, analyze and evaluate the collaborative task pre-rehearsal results to obtain the search and rescue task verification results.

[0046] Optionally, the step of using the collaborative task analysis and evaluation module to analyze and evaluate the collaborative task rehearsal results to obtain search and rescue task verification results includes: S641, Construct a set of collaborative task pre-rehearsal evaluation indicators; the set of collaborative task pre-rehearsal evaluation indicators includes support capability indicators, search capability indicators, rescue capability indicators, wave resistance capability indicators, and medical rescue capability indicators; S642, process the set of collaborative task pre-rehearsal evaluation indicators to obtain the search and rescue task verification results.

[0047] Optionally, the processing of the collaborative task pre-rehearsal evaluation index set to obtain the search and rescue task verification results includes: S6421, Process the support capability indicators to obtain the support capability evaluation result; S6422, Process the search capability indicators to obtain the search capability evaluation results; S6423, Process the rescue capability indicators to obtain the rescue capability evaluation results; S6424, Process the wave resistance index to obtain the wave resistance evaluation result; S6425, Process the medical rescue capability indicators to obtain the medical rescue capability evaluation results; S6426, The evaluation results of the support capability, search capability, rescue capability, wave resistance capability, and medical rescue capability are integrated to obtain the search and rescue mission verification results.

[0048] As can be seen, the present invention realizes a search and rescue system and method for search and rescue aircraft. By accurately simulating various maritime accident scenarios, optimizing search and rescue plans and resource allocation, it improves personnel training effectiveness and multi-departmental collaboration capabilities, thereby effectively improving maritime search and rescue efficiency, ensuring the safety of life and property, reducing environmental pollution, and promoting the development of maritime search and rescue technology and theory.

[0049] Example 3 The search and rescue system and method for search and rescue aircraft in this embodiment mainly achieves the following functions: Supports simulation of four or more amphibious aircraft search and rescue scenarios at sea / high-altitude lakes, including but not limited to pilot crash search and rescue scenarios, capsized ship personnel search and rescue scenarios, submarine crash personnel search and rescue scenarios, and high-altitude lake casualty emergency treatment and transfer scenarios. Generate various types of search and rescue response plans, including but not limited to single-aircraft search and rescue, multi-aircraft search and rescue, and multi-equipment coordinated search and rescue; conduct simulations of various detection methods, including but not limited to photoelectric detection, radio detection, and radar detection; conduct process simulations of rescue modes under different sea conditions / plateau lake conditions; provide quantitative analysis and evaluation methods to assist in the generation of search and rescue plans for amphibious aircraft at sea / plateau lakes; provide support for the visualization process of amphibious aircraft's search and rescue missions at sea / plateau lakes, supporting global perspectives, aircraft perspectives, etc.; and provide a virtual rehearsal environment corresponding to the search and rescue plan for the crew performing the search and rescue mission.

[0050] The amphibious aircraft search and rescue mode simulation verification system software consists of a mission environment modeling subsystem, a scheme auxiliary generation subsystem, a simulation calculation subsystem, a visualization subsystem, and a mission pre-drill subsystem. The overall system architecture design follows relevant technical standards and safety technology systems, providing standardization and safety assurance for project research and development and operation and maintenance.

[0051] The overall logical architecture of the system is divided into three layers: preliminary scheme formulation and optimization, human-driven simulation verification, and task pre-simulation verification.

[0052] The first level is the initial formulation and optimization of the plan. By clarifying search and rescue resources and related constraints, the plan is initially formulated and the route is planned, thus forming a preliminary search and rescue plan set, including a plan auxiliary generation subsystem and a simulation calculation subsystem. The second level is the man-in-the-loop driven simulation verification. The input plan is further evaluated and verified through man-in-the-loop simulation, including a simulation calculation subsystem. The third level is the man-in-the-loop mission pre-simulation verification. Through virtual and real semi-physical simulation pre-simulation, the crew's man-in-the-loop execution of the mission plan is realized, including a mission pre-simulation verification subsystem.

[0053] In addition, the task environment modeling subsystem (including task environment modeling) is based on the same model system to establish the relevant models required for the corresponding levels of the above three layers.

[0054] The application process of the amphibious aircraft search and rescue mode simulation verification system corresponds to the three levels mentioned above, which are: preliminary scheme formulation and optimization, human-driven simulation verification, and human-driven mission pre-simulation verification. Figure 3 This is a schematic diagram illustrating the application process of the search and rescue aircraft search and rescue system disclosed in an embodiment of the present invention.

[0055] The scheme generation subsystem enables the initial formulation and optimization of schemes. This subsystem provides the basic input for the amphibious aircraft search and rescue mode verification simulation system, allowing search and rescue commanders to complete all tasks from task scenario editing to search and rescue plan issuance within this subsystem. The scheme generation subsystem includes a task scenario setting module, a scheme pre-calculation module, a scheme optimization and evaluation module, and a task scheme issuance module. It supports scenario input under different task scenarios and comparison of multiple schemes under the same task scenario, enabling the assisted generation of emergency response plans for typical search and rescue scenarios.

[0056] Human-driven simulation and verification are implemented based on a simulation solution subsystem and a visualization subsystem. The simulation solution subsystem further evaluates the preliminary search and rescue plan set generated by the plan generation subsystem, and verifies it through human-driven simulation, considering the impact of complex situations and uncertainties. It also provides a more intuitive representation of the entire search and rescue mission process, ultimately verifying the feasibility of the search and rescue mission and selecting the most suitable plan through comprehensive evaluation. The visualization subsystem supports the visualization of relevant parameter configurations during the plan formulation process, the target distress status during the simulation, and the aircraft's mission execution process, while also providing a human-machine interface.

[0057] The mission simulation verification subsystem enables human-centered mission simulation verification. This subsystem primarily provides mission simulation services for search and rescue crews, offering immersive, high-fidelity rescue mission simulations. It constructs a semi-physical simulation environment by combining physical simulation modules, supporting multi-terminal collaborative mission simulations. Simultaneously, it provides search and rescue commanders with a global perspective to observe aircraft status and mission execution. The subsystem includes collaborative mission scenario planning, collaborative mission simulation, collaborative mission monitoring, and collaborative mission analysis and evaluation modules. It adapts to multi-mission scenario simulations and can analyze and evaluate the simulation process and data after completion, thereby verifying the effectiveness of the search and rescue model.

[0058] The amphibious aircraft search and rescue mode verification simulation system was developed through collaboration between two parties. It includes a mission environment modeling subsystem, a scheme auxiliary generation subsystem, a simulation calculation subsystem, a visualization subsystem, and a mission pre-simulation verification subsystem. The applications and data of these subsystems are interconnected, necessitating thorough system integration verification. After integration, the amphibious aircraft search and rescue mode simulation verification system must undergo third-party software testing conducted by a qualified institution.

[0059] To ensure that the amphibious aircraft search and rescue mode simulation verification system can comprehensively demonstrate the amphibious aircraft search and rescue mode from multiple perspectives, the hardware equipment of the amphibious aircraft search and rescue mode verification simulation system can adopt the following schemes based on the number of pre-simulation roles: Table 1 System Hardware Environment Requirements (3 roles in the task rehearsal) Figure 4 This is a schematic diagram of a hardware device deployment scenario disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of system integration disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of the system integration interface disclosed in an embodiment of the present invention.

[0060] The amphibious aircraft search and rescue simulation verification system integrates various subsystems. The scheme generation subsystem handles task scenario setting, scheme pre-calculation (including task information generation, route information generation, search scheme generation, and rescue scheme generation), scheme selection and evaluation, and task scheme distribution. Task schemes are saved as XML files for other subsystems to read. The simulation calculation subsystem loads schemes, expands scenarios (allowing for changes to the mission environment, distressed targets, etc.), performs human-environment-driven simulation calculations, and conducts comprehensive evaluation, enabling simulation verification of search and rescue schemes. The mission pre-simulation subsystem performs mission scenario setting (task loading and pre-simulation scenario setting), collaborative pre-simulation, and pre-simulation evaluation, enabling simulation verification of search and rescue schemes. Figure 7 This is a system integration logic diagram disclosed in an embodiment of the present invention.

[0061] Example 4 1. Search and rescue force / equipment model Based on the mission requirements of amphibious aircraft, simulation models are developed for different subsystems according to their modeling granularity requirements. Multiple models and modeling methods are developed to meet the mission simulation requirements, and simulations at different resolutions are provided for scheme-aided generation, simulation solution, and mission pre-simulation.

[0062] Distress Target Model: The distress target model mainly includes distress target models, aircraft models, and ship models. Low-resolution models are primarily for the scheme-aid generation subsystem, treating distressed personnel as point masses, and include survival time models and baseline models. High-resolution models are primarily for the simulation solution subsystem and mission pre-simulation subsystem, treating vehicles as three-dimensional targets. Figure 8 This is a 3D model of a person who has fallen into the water, as disclosed in an embodiment of the present invention.

[0063] Survival time for people who fall into the water is significantly affected by water temperature. Based on the relationship between the time of unconsciousness and expected survival (y, in minutes) and water temperature (x, in degrees Celsius), the fitted curve for the time of unconsciousness is as follows: The fitted curve for the expected survival time is as follows: Search and rescue force / equipment models: These models primarily include amphibious aircraft models. Through quantitative descriptions of their functions, system-level simulation analysis and evaluation of search and rescue missions are achieved. Models include: amphibious aircraft, mission equipment, other search and rescue forces, airports, and search and rescue command centers.

[0064] Low-resolution models are primarily designed for the scheme-aided generation subsystem, providing a quantitative description of equipment functions, including maneuver models, basic attributes, constraint attributes, relational attributes, and equipment. High-resolution models are constructed according to true scale. Figure 9 This is a three-dimensional model of an aircraft in the system disclosed in the embodiments of the present invention.

[0065] Search and Rescue Command Center Model and Attributes: The search force behavior model mainly includes six aspects: search and rescue rules model, search process, water rescue process, airdrop rescue process, medical evacuation process, and coordinated search and rescue process. The search and rescue rules model mainly includes search strategy selection, amphibious aircraft rescue process rules, water rescue rules, and airdrop rescue rules. The mission equipment involved in amphibious aircraft performing search and rescue missions includes detection equipment (electro-optical detection, radar detection, radio detection, etc.), mobile lifeboats, and airdropped supplies packages. Therefore, the mission equipment model includes detection models, communication models, lifeboat models, airdropped supplies package models, and medical and life support equipment.

[0066] System environment model: The system environment model consists of two parts: the marine environment model and the scene terrain model. The marine environment model is composed of ocean current model, wind field model, water temperature model, wave model and weather model.

[0067] Ocean current model: The baseline model requires total water current as a calculation input. The total water current is a composite of ocean current (SC) and wind-driven current (WC). The ocean current is a composite vector, usually the average value obtained from observations over a certain period (e.g., one year); ocean current information near the baseline can be obtained from relevant data (e.g., NOOSP). The total wind-driven current vector is a composite of wind-driven current vectors from all reported time groups during the time of the shipwreck's drift.

[0068] Wind Field Model: The base point model requires wind pressure difference as a calculation input. Wind pressure difference refers to the effect of wind on the surface portion of a target exposed on the water, causing the target to drift along the wind direction. Wind direction and speed can be estimated directly from the field. Typically, in near-shore searches, only the downwind drift direction is considered. However, in the ocean surface model, the wind-generated current vectors WC1 and WC3 based on the wind pressure difference must be applied. Therefore, the total wind-generated current vector WC during the drift of the distressed vessel is: Wind pressure difference (LW) refers to the force of wind acting on the surface of a ship's hull, causing it to drift in the direction of the wind. The shape of the hull above and below water affects the magnitude of the wind pressure difference and causes the ship to drift slightly downwind.

[0069] Let the directional angle of the wind pressure difference be... The magnitude of the wind pressure difference is ,but In the formula: Downwind direction; α is the wind pressure deviation angle; α represents the average wind speed over the sea surface; γ represents the wind pressure drift rate. α and γ can be obtained from a table.

[0070] Water temperature model: The water temperature model mainly considers the average temperature of a certain sea area within the range of the person who fell into the water. This average temperature is used as a calculation parameter to calculate the time it takes for the person to regain consciousness and survive.

[0071] Ocean wave model: The ocean wave model is mainly used for simulation of critical processes such as amphibious aircraft landing and rescue, and serves as a constraint condition. The correspondence between sea state level and wave height is shown in the table below.

[0072] Table 2 Sea State Classes and Wave Heights Figure 10 This is the search and rescue command center model and attributes disclosed in the embodiments of the present invention; Figure 11 This is a marine environment model 1 for different sea conditions disclosed in the embodiments of the present invention; Figure 12 This is the marine environment model 2 for different sea conditions disclosed in the embodiments of the present invention; Figure 13 This is the marine environment model 3 for different sea conditions disclosed in the embodiments of the present invention.

[0073] Weather Model: The weather model simulates features such as clear skies and sea fog, and allows for the adjustment of global weather parameters, including wind and fog settings, to simulate visualization effects and can be used as input for related parameters such as visibility.

[0074] Figure 14 This is a schematic diagram illustrating the global weather adjustment effect disclosed in an embodiment of the present invention; Figure 15 This is a schematic diagram of the weather parameter setting interface disclosed in an embodiment of the present invention.

[0075] The scene terrain models include the Bohai Sea terrain scene, the East China Sea terrain scene, the South China Sea Islands terrain scene, the Yellow Sea terrain scene, and the Pangong Lake terrain scene.

[0076] 2. Professional Analysis Methodology Model Professional analytical models include coordinate transformation models, time transformation models, and linear regression models. Coordinate transformation models can convert between latitude and longitude coordinates and spatial coordinates for distance calculations. Time transformation models typically consist of a time base and a time scale, enabling time conversion between UTC and other time zones. In simulation verification systems, planning models or data fitting models require regression methods for modeling. For example, the objective function in optimal search is a linear function of the decision variables, and the constraints are linear equations or inequalities of the decision variables. The mathematical model for this type of planning problem is called a linear programming mathematical model.

[0077] 3. System Analysis Method Model The system analysis model mainly includes a trajectory and attitude calculation model, a search plan generation model, a rescue plan generation model, an evaluation index system, and a mission pre-simulation evaluation model. The trajectory and attitude calculation model uses a three-degree-of-freedom mass kinematics model to simulate aircraft motion and trajectory for the plan-aided generation subsystem and the simulation calculation subsystem. For the mission pre-simulation subsystem, considering pilot control, a six-degree-of-freedom aircraft dynamics model is used to simulate the aircraft's trajectory and attitude motion. The search plan generation model selects plans through a joint base point model, search area model, search method model, resource allocation model, and route planning model. The rescue plan generation module includes water-landing rescue and airdrop rescue. In the water-landing rescue simulation, a reasonable water-landing area is calculated based on the target discovery location to achieve a safe and rapid rescue effect. In the airdrop rescue, a suitable airdrop location and airdrop direction are calculated based on the target discovery location and the current sea conditions, including wave height, wind speed, and wind direction, to ensure that airdropped rescue supplies are scattered within the reachable area of ​​the target region, ensuring the effectiveness of the rescue. To further evaluate the effectiveness of amphibious aircraft search and rescue modes, based on the optimal scheme evaluation, and focusing on human-driven mission simulation, this study constructs an amphibious aircraft search and rescue evaluation index system. This system is based on the characteristics of amphibious aircraft search and rescue missions and the capability analysis model, considering five capability dimensions: support capability, search capability, rescue capability, wave resistance capability, and medical rescue capability. It proposes eight indicators for both safety and mission effectiveness. This evaluation index system covers the departure, search, rescue, and return phases. The established evaluation index system is a hierarchical system. Using this system and simulation data, the elements of each stage of the search and rescue process can be comprehensively considered to evaluate different search and rescue modes. Considering the functions of the mission pre-simulation verification subsystem for search and rescue pilots to conduct collaborative mission pre-simulation, support pre-simulation mission control, and analyze key nodes of the mission process, the mission pre-simulation tasks are divided into the following six categories: collaborative mission simulation, pre-simulation scenario management, pre-simulation mission organization, collaborative mission control, mission record playback, and mission effectiveness evaluation.

[0078] 4. Solution-aided generation subsystem The scheme generation subsystem provides basic input for the amphibious aircraft search and rescue mode simulation verification system. Search and rescue commanders can complete all tasks from mission scenario editing to search and rescue plan issuance within this subsystem. The scheme generation subsystem includes a mission scenario setting module, a scheme pre-calculation module, a scheme optimization and evaluation module, and a mission scheme issuance module. It supports scenario input under different mission scenarios and comparison of multiple schemes under the same mission scenario, enabling the assisted generation of emergency response plans for typical search and rescue scenarios. Figure 16 This is a schematic diagram of the topographic scene of the Bohai Sea area disclosed in an embodiment of the present invention; Figure 17 This is a structural diagram of the scheme generation subsystem disclosed in this embodiment of the invention. The scheme generation subsystem completes the rescue mission planning for different scenarios through steps such as setting parameters for the distress situation, pre-calculating the rescue scheme, optimizing and evaluating the rescue scheme, and issuing the rescue scheme. It then provides the optimal scheme and transmits the generated scheme results to the simulation calculation subsystem in the form of an XML file. The amphibious aircraft search and rescue mode simulation system supports amphibious aircraft rescue or ship-aircraft cooperative rescue simulation. It supports search and rescue mission planning with known search and rescue resources and equipment, and also supports search and rescue resource configuration and search and rescue scheme calculation to maximize rescue efficiency under relevant constraints. Depending on the different mission requirements, the simulation system's process is divided into: Identify search and rescue resources and plan rescue routes. The specific process is as follows: First, determine the location where the target fell into the water, and calculate the target's drift trajectory based on sea conditions and weather conditions to determine the base point location. Second, calculate the search area using relevant algorithms, and formulate a search and rescue plan (search and rescue route) and search confirmation method based on the amphibious aircraft's takeoff point, takeoff status, and scanning capabilities. When amphibious aircraft cooperate with ships, helicopters, etc., for rescue operations, task assignment and formation are carried out according to the performance characteristics of different search and rescue equipment to conduct target searches. Finally, after the target is discovered, confirm the rescue mode and simulate the selected mode.

[0079] Define relevant constraints and allocate resources. The specific process is as follows: First, set relevant constraints, including environmental factors limiting the rescue mission, and restrictions on participating aircraft and vessels. Second, determine the waters and landing point of the maritime accident, calculate the drift trajectory of the search and rescue target based on sea conditions and weather conditions, and determine the base point location. Based on the performance characteristics of search and rescue resources (amphibious aircraft rescue alone or amphibious aircraft cooperating with ships, helicopters, etc., as specified in the constraint settings) and relevant constraints, use various optimization algorithms to automatically generate reasonable resource allocation, paths, and search methods. After multiple iterations and optimizations, maximize rescue efficiency. After the target is located, confirm the rescue mode and simulate the selected mode.

[0080] 5. Simulation Solution Subsystem The simulation solution subsystem further simulates, solves, and evaluates the input schemes from the scheme-aided generation subsystem, achieving human-driven simulation verification. It quantitatively analyzes key data generated by the simulation and provides the final evaluation results using performance evaluation methods. The simulation solution subsystem verifies the simulation through human-driven simulation, considering the impact of complex situations and uncertainties, and can more intuitively represent the entire search and rescue mission process. Finally, it verifies the feasibility of the search and rescue mission through comprehensive evaluation and selects the most suitable search and rescue scheme. Figure 18 This is a structural diagram of the simulation solution subsystem disclosed in an embodiment of the present invention; Figure 19 This is a schematic diagram of the task pre-simulation verification subsystem disclosed in an embodiment of the present invention.

[0081] The simulation subsystem incorporates models including a mission model, equipment model, fuel consumption model, and detection model. Its architecture includes a scheme loading and editing module, a simulation and deduction module, and a comprehensive evaluation module. The purpose of the simulation is to verify the completion of the amphibious aircraft's search and rescue mission and to collect verification data. The simulation subsystem supports loading initial schemes, expanding missions based on initial schemes, and human-driven simulation. Finally, based on the simulation data, the comprehensive evaluation module outputs the evaluation results of the mission simulation.

[0082] 6. Visualization Subsystem The visualization subsystem primarily provides visualization of the simulation process and situation to the simulation solution subsystem, including a visual display of the distress status and the entire mission execution process of the aircraft during the simulation, while also providing a human-machine interface for control. During visualization, users can customize and select the observation target, such as observing the current situation of the distressed personnel or the current actions of the rescue aircraft. The visualization subsystem includes simulation visualization and situation visualization.

[0083] 7. Task Pre-simulation Verification Subsystem The mission rehearsal simulation verification subsystem primarily serves search and rescue crews in conducting collaborative mission rehearsals. It includes two modes: virtual collaborative mission rehearsal and hardware-in-the-loop (HIL) simulation collaborative mission rehearsal. The former provides fully virtualized collaborative mission simulation verification, while the latter combines physical simulation modules to achieve HIL simulation verification, offering an immersive and highly realistic rescue collaborative mission rehearsal. This allows for a more intuitive and immersive "participation" in and verification of various scenarios and collection modes. It supports multi-terminal collaborative mission rehearsals and provides search and rescue command personnel with a global perspective to observe aircraft status and mission execution. Figure 20 This is a structural diagram of the task pre-simulation verification subsystem disclosed in an embodiment of the present invention; Figure 21 This is a schematic diagram of the virtual collaborative simulation verification of task pre-simulation disclosed in an embodiment of the present invention; Figure 22 This is a schematic diagram of the task pre-simulation semi-physical simulation verification disclosed in the embodiments of the present invention.

[0084] The task pre-simulation verification subsystem includes a collaborative task scenario planning module, a collaborative task pre-simulation module, a collaborative task monitoring module, and a collaborative task analysis and evaluation module. It is adaptable to multi-task scenario simulation and can analyze and evaluate the collaborative task process and data after the collaborative task pre-simulation is completed.

[0085] 8. Simulation verification of typical scenario assumptions Verification Objective: Based on the research findings of the project on amphibious aircraft search and rescue operation methods and modes, search and rescue functions, and the modification and upgrading of search and rescue equipment, this study verifies the feasibility and effectiveness of amphibious aircraft search and rescue operation modes. Simulation verification methods such as human-in-the-loop simulation, virtual collaborative mission pre-simulation, and semi-physical collaborative mission pre-simulation are applied. By inputting various mission scenarios, a preliminary scheme set is formulated to obtain simulation results and evaluation results of amphibious aircraft under various operation modes in typical mission scenarios. This verifies the feasibility and effectiveness of using amphibious aircraft to perform single-aircraft search and rescue, multi-aircraft search and rescue, and multi-equipment collaborative search and rescue operation modes.

[0086] Multi-scenario, multi-mode scenario design: The verification scenarios should include four scenarios: pilot crash search and rescue, capsized vessel personnel search and rescue, submarine crash personnel search and rescue, and Pangong Lake search and rescue. These scenarios must also reflect the impact of different marine meteorological and hydrological characteristics and other environmental factors on the mission process. In the mission scenario design, four sets of mission scenarios are set for the four typical scenarios. For the first three maritime search and rescue scenarios, based on the impact of marine environmental conditions on the amphibious aircraft search and rescue mission process, two mission environments are set: high visibility / low sea state and low visibility / high sea state.

[0087] Furthermore, multiple modes of mission scenarios are considered. Based on the aforementioned multi-scenario scenarios, the mission mode requirements will differ due to the varying needs of the distressed targets and the different environmental conditions. Search and rescue operations will consider both single-aircraft search and rescue by amphibious aircraft and multi-aircraft, multi-equipment collaborative search and rescue. Search modes will include various methods such as parallel line search and fan-shaped search. Rescue modes will consider multiple rescue scenarios, including water rescue and airdrop rescue.

[0088] This invention designs a search and rescue method for amphibious aircraft, which includes simulations of four or more amphibious aircraft search and rescue scenarios at sea / high-altitude lakes. It generates various types of search and rescue response plans, simulates multiple detection methods, and performs process simulations of rescue modes under different sea states / high-altitude lake conditions. This provides quantitative analysis and evaluation methods for the auxiliary generation of amphibious aircraft search and rescue plans at sea / high-altitude lakes, supports visualization of the execution process of amphibious aircraft search and rescue missions at sea / high-altitude lakes, supports global perspectives and aircraft perspectives, and provides the crew performing the search and rescue mission with a virtual pre-simulation environment corresponding to the search and rescue plan. It has seven main functions, enabling verification of the feasibility and effectiveness of amphibious aircraft search and rescue operation modes. This patent systematically elaborates on the mission environment modeling subsystem, mainly including a distress target model, a search and rescue force / equipment model, a system environment model, a professional analysis method model, and a system analysis method model. The functions and principles of each model are explained. Furthermore, the solution auxiliary generation system, simulation calculation subsystem, visualization subsystem, mission pre-simulation verification subsystem, and simulation verification typical scenario scenarios are fully discussed. The search and rescue method for amphibious aircraft proposed in this patent can perform simulation modeling according to the mission requirements of amphibious aircraft and the modeling granularity requirements of different subsystems. It develops multiple models and modeling methods to meet mission simulation needs, supporting simulations at different resolution levels, including scheme generation, simulation calculation, and mission pre-simulation. The environmental system model design fully considers the complex marine environment, enabling relatively accurate environmental simulation. The scheme generation subsystem provides basic input for the amphibious aircraft search and rescue mode simulation verification system, allowing search and rescue commanders to complete all work from mission scenario editing to search and rescue plan issuance within this subsystem. The simulation calculation subsystem further performs simulation calculations and inference evaluations based on the input schemes from the scheme generation subsystem, achieving human-driven inference verification. It quantitatively analyzes key data generated by the simulation and provides the final evaluation results using performance evaluation methods. This helps establish a more scientific and accurate theoretical system for maritime search and rescue, providing stronger theoretical support for actual search and rescue work. The visualization subsystem provides visualization of the inference process and situation for the simulation calculation subsystem, offering a more intuitive and concise human-computer interaction interface. The mission rehearsal simulation verification subsystem primarily serves search and rescue crews in conducting collaborative mission rehearsals. It includes two modes: virtual collaborative mission rehearsal and hardware-in-the-loop (HIL) simulation collaborative mission rehearsal. The former provides fully virtualized collaborative mission simulation verification, while the latter combines physical simulation modules to achieve HIL simulation verification, offering immersive, highly realistic rescue collaborative mission rehearsals. This allows for a more intuitive and immersive "participation" in and verification of various scenarios and collection modes. Through simulation verification of typical scenarios, it ensures that the operational logic and output results of the maritime search and rescue simulation system closely match actual maritime search and rescue situations, thus enhancing its practical value.This patent improves personnel training effectiveness and multi-departmental collaboration by accurately simulating various maritime accident scenarios, optimizing search and rescue plans and resource allocation, thereby effectively improving maritime search and rescue efficiency, ensuring the safety of life and property, reducing environmental pollution, and promoting the development of maritime search and rescue technology and theory.

[0089] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0090] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0091] Finally, it should be noted that the search and rescue system and method for search and rescue aircraft disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A search and rescue aircraft search and rescue system, characterized in that, The system includes a task environment modeling subsystem, a scheme-aided generation subsystem, a simulation solution subsystem, a visualization subsystem, and a task pre-simulation verification subsystem. The task environment modeling subsystem is data-connected with the scheme-aid generation subsystem, the simulation solution subsystem, the visualization subsystem, and the task pre-simulation verification subsystem, and is used for task environment modeling. The scheme-aided generation subsystem is connected to the task environment modeling subsystem, the simulation calculation subsystem, and the visualization subsystem for generating search and rescue schemes. The simulation solution subsystem is connected to the task environment modeling subsystem, the visualization subsystem, and the task pre-simulation verification subsystem for data optimization of search and rescue plans; The visualization subsystem is connected to the task environment modeling subsystem, the simulation solution subsystem, and the task pre-simulation verification subsystem for data visualization of the simulation process and provision of human-computer interaction interface; The task pre-simulation verification subsystem is data-connected with the task environment modeling subsystem, the simulation calculation subsystem, and the visualization subsystem, and is used to realize human-in-the-loop task pre-simulation verification. The steps of the search and rescue method for search and rescue aircraft applied to the search and rescue aircraft search and rescue system include: S1, obtain search and rescue needs information; S2, using the task environment modeling subsystem, the search and rescue demand information is processed to obtain task environment information; The mission environment information includes information on the distressed target, information on the search and rescue forces, information on the search and rescue environment, information on the search and rescue methods, information on the search and rescue mission, information on the search and rescue route, information on the search plan, and information on the rescue plan. S3, using the scheme-assisted generation subsystem, processes the task environment information to obtain a preliminary set of search and rescue task schemes, including: S31, using the task scenario setting module, the task environment information is processed to obtain distress situation parameter information; the distress situation parameter information includes search and rescue task scenario, task scenario information, and task parameter information; S32, using the scheme pre-calculation module, the distress situation parameter information is processed to obtain a first search and rescue scheme set, which includes N search and rescue schemes, where N is a positive integer; S321, Process the distress situation parameter information to obtain mission information; Establish a task allocation model and determine the cost-benefit function and constraints; Initialization settings: Set the discrete time step and initialize the aircraft state, mission set, and exploration rate. Strategy parameters, task price Initially 0; Cycle cycle: (1) Bid generation: The aircraft bids according to its state using a bid function. Generate a bid; Among them, task price Indicates task exist The current lowest bid price at any given time, initially 0, increases with each auction round. , For learning rate, and They represent The state of being at any given moment and the actions taken, the task The priority is , It is an aircraft Maximum energy, aircraft Remaining energy is aircraft With the task The distance is , Discount factor; (2) Competitive allocation: Bids are only made for tasks that meet the constraints, and the highest bidder is given priority in allocating tasks to aircraft; (3) Status update: The aircraft updates its range and load by 1. If the load exceeds the limit, it will exit directly. The mission records the time. If the timeout occurs, it will be marked as a failure and the price will be updated. Policy optimization: Update parameters using the policy gradient in the direction that increases the expected reward; Value update: Explore with probability decaying to 0.1 with each round, iterate and correct the bidding strategy according to time difference, and dynamically decay to focus on efficient strategies; Loop Iteration and Termination: Once the task allocation is completed and the iteration rounds are completed, the task allocation result is output, which is the task information; S322, Process the task information to obtain route information; Step 1: Establish a 3D model, determine the cost function and constraints of the aircraft path planning problem, and establish the initial information for the Seagull Algorithm; Step 2: Generate a certain number of individuals as the initial population, calculate the fitness value of the individuals in the population, and select the individuals with better fitness values ​​as the initial population individuals; The method for generating a certain number of individuals in a population is as follows: in, The initial population was randomly selected. , , , Population size; Will Mapped onto the domain of the population: ,in This is the lower limit of the search parameter range. This is the upper limit of the search parameter range. , This is the initial population; Step 3: Perform iterative search using the Seagull algorithm. In each iteration, update the individual's position based on the Seagull's behavior and use a non-linear energy factor to update the strategy, causing it to move towards a lower fitness value. Step 4: In the local search phase, chaotic mapping is used to search the local solution space so that it can escape the local optimum. Step 5: Repeat Step 3 and Step 4 until the algorithm termination condition is met; Step 6: Output the optimal fitness value, which is the route information; S323, Process the route to obtain a search plan; S324, Process the search scheme to obtain a first set of search and rescue schemes; S33, using the scheme optimization and evaluation module, the first search and rescue scheme set is processed to obtain a preliminary search and rescue mission scheme set; S4, using the simulation solution subsystem, the preliminary search and rescue mission plan set is processed to obtain the search and rescue mission plan, including: S41, expand and adjust the preliminary search and rescue mission plan set to obtain a second search and rescue mission plan set; S42, perform task calculation and task deduction on the second set of search and rescue mission schemes to obtain the third set of search and rescue mission schemes; S43, Evaluate the effectiveness of the third set of search and rescue mission plans to obtain a search and rescue mission plan; S5, using the visualization subsystem, the simulation process of the search and rescue mission plan is visualized and a human-computer interaction interface is provided; S6, using the mission pre-simulation verification subsystem, the search and rescue mission plan is simulated, verified, and analyzed to obtain the search and rescue mission verification results, including: S61, using the collaborative task scenario module, the search and rescue task plan is processed to obtain simulation scenario information; S62, using the collaborative task pre-simulation module, the simulation scenario information is processed to obtain collaborative task pre-simulation information; S63, The collaborative task pre-play information is processed using the collaborative task monitoring module to obtain the collaborative task pre-play result; S64, using the collaborative task analysis and evaluation module, analyze and evaluate the collaborative task rehearsal results to obtain the search and rescue task verification results, including: S641, Construct a set of collaborative task pre-rehearsal evaluation indicators; the set of collaborative task pre-rehearsal evaluation indicators includes support capability indicators, search capability indicators, rescue capability indicators, wave resistance capability indicators, and medical rescue capability indicators; S642, Process the set of collaborative task pre-rehearsal evaluation indicators to obtain the search and rescue task verification results, including: S6421, Process the support capability indicators to obtain the support capability evaluation result; S6422, Process the search capability indicators to obtain the search capability evaluation results; S6423, Process the rescue capability indicators to obtain the rescue capability evaluation results; S6424, Process the wave resistance index to obtain the wave resistance evaluation result; S6425, Process the medical rescue capability indicators to obtain the medical rescue capability evaluation results; S6426, The evaluation results of the support capability, search capability, rescue capability, wave resistance capability, and medical rescue capability are integrated to obtain the search and rescue mission verification results.

2. The search and rescue system for aircraft according to claim 1, characterized in that, The mission environment modeling subsystem includes a distress target model, a search and rescue force / equipment model, a system environment model, a professional analysis method model, a system analysis method model, a search and rescue operation mode, a mission information model, a route information model, a search plan model, and a rescue plan model. The distress target model includes distress personnel models, aircraft models, ship models, submarine models, and related payload / cooperative target models, which are used to provide distress target information; The search and rescue force / equipment models include amphibious aircraft models, airborne equipment models, airport and port models, and command and control center models, which are used to provide search and rescue force information; The system environment model includes a marine environment model and a scene terrain model, which are used to provide search and rescue environment information; The professional analysis method model includes a coordinate transformation model, a time transformation model, and a linear regression model, which are used for coordinate transformation, time transformation, and planning problem modeling. The system analysis method model includes a trajectory and attitude calculation model, a search plan generation model, a rescue plan generation model, an evaluation index system, and a mission pre-simulation evaluation model, which are used for system analysis. The search and rescue operation mode is used to generate search and rescue method information; The mission information model is used to generate search and rescue mission information; the route information model is used to generate search and rescue route information. The search plan model is used to generate search plan information; the rescue plan model is used to generate rescue plan information.

3. The search and rescue system for aircraft according to claim 1, characterized in that, The scheme-assisted generation subsystem includes a task scenario setting module, a scheme pre-calculation module, a scheme optimization and evaluation module, and a task scheme distribution module, which are used to assist in the generation of search and rescue schemes.

4. The search and rescue system for aircraft according to claim 1, characterized in that, The mission simulation and verification subsystem includes a collaborative mission scenario module, a collaborative mission simulation module, a collaborative mission monitoring module, and a collaborative mission analysis and evaluation module, which are used for search and rescue mission simulation verification and analysis and evaluation.

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