Unmanned aerial vehicle command and control simulation verification system and method for heterogeneous simulation source

Abstract

The invention provides an unmanned aerial vehicle command and control simulation verification system and method for a heterogeneous simulation source. The system comprises an application scene control module which is divided into an overall scene scenario management part and a dynamic guidance control part; the unmanned aerial vehicle command simulation module serves as a bearing platform of an unmanned aerial vehicle command algorithm or command expert system model; the heterogeneous simulation management module receives data of a real-mounted unmanned aerial vehicle system, serves as battlefield element data in simulation training, serves as a battlefield element simulation data source of a simulation environment, and provides high-precision and high-reduction battlefield element simulation data for the simulation environment through a virtual simulation source and a construction simulation source; the general protocol conversion module performs automatic conversion and transmission of various protocol data based on an expanded DIS general protocol; the invention aims to establish a universal and open system architecture for command and control simulation verification of the unmanned aerial vehicle, and the system architecture has good expansibility for simulation sources of different configurations.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) command and control system simulation technology, and in particular relates to a UAV command and control simulation verification system and method for heterogeneous simulation sources. Background Technology

[0002] As drone technology matures, its advantages in future applications, such as intelligence, integration, mobility, and the ability to operate without personnel, are becoming increasingly apparent. Current research focuses heavily on model development and improving individual drone performance. However, to better integrate with future applications, research into the command and control systems of drones is urgently needed. By constructing a distributed heterogeneous UAV simulation and verification system for UAV command and control, the main functions of the UAV ground control station can be effectively verified, the capabilities of the UAV system in future application scenarios can be demonstrated, and a good simulation and verification platform can be provided for the research of key technologies for UAV command and control and collaborative integrated command and control systems. Summary of the Invention

[0003] The purpose of this invention is to establish a general and open system architecture for simulation verification of UAV command and control, which has good scalability for simulation sources with different configurations, reduces the software development cost of connecting to different UAV systems, and improves the inheritance of UAV system simulation systems. In the first aspect, this application provides a UAV command and control simulation verification system for heterogeneous simulation sources, the system including an application scenario control module, a UAV command simulation module, a heterogeneous simulation management module and a general protocol conversion module; The application scenario control module is divided into two parts: overall scenario scenario management and dynamic guidance control. The UAV command simulation module serves as a platform for carrying UAV command algorithms or command expert system models. The heterogeneous simulation management module receives data from the actual UAV system as battlefield element data in the simulation training, and also serves as a battlefield element simulation data source for the simulation environment. It provides high-precision and high-fidelity battlefield element simulation data to the simulation environment through virtual simulation sources and constructed simulation sources. The general protocol conversion module automatically converts and transmits various protocol data based on the extended DIS general protocol.

[0004] Preferably, the overall scenario planning management is responsible for designing application scenarios based on actual simulation tasks, including combat elements of both sides, weather conditions, and non-combat targets in the scenario.

[0005] Preferably, the dynamic guidance and control section is responsible for dynamically adjusting combat elements and controlling environmental changes in the simulation scenario during system operation.

[0006] Preferably, the UAV command simulation module first requires real-time status information of the battlefield environment and the node resources participating in the simulation, and combines it with intelligence information obtained through multiple channels to render the overall battlefield situation; through command algorithm calculation or human-computer interaction operation of the user interface to trigger command commands, dynamically control the task content of our battlefield resources in the simulation scenario, and realize the simulation and effect comparison of different command schemes in the battlefield simulation task scenario.

[0007] Preferably, the virtual simulation source adopts a combination of real ground station personnel interactive access and flight simulation system to ensure high-precision simulation of our personnel's battlefield element data in the loop while maintaining economy.

[0008] Preferably, the model in the constructed simulation source is responsible for simulating enemy battlefield units, scene environment, and non-battlefield target elements in the scene.

[0009] Preferably, the system further includes a resource management module; The resource management module consists of three parts: Basic resource management, including the maintenance of battlefield element types and models, and the system-wide basic data management of communication parameters; Data recording and analysis: responsible for recording all scenario data and simulation process data, statistically analyzing network traffic, and conducting battle damage statistics and battlefield effectiveness assessment in conjunction with simulated battlefield mission objectives. Simulation resource management utilizes cloud platform containerized management tools to dynamically invoke simulation and construction simulations within the simulation source. It dynamically starts and stops battlefield element simulation sources that conform to the scenario assumptions based on the simulation progress, and dynamically adjusts hardware computing, storage, and network resources according to the simulation source requirements, thereby achieving dynamic resource allocation for a large number of battlefield element simulation sources.

[0010] Secondly, this application also provides a simulation verification method for UAV command and control using heterogeneous simulation sources. The method is applied to the system described above and includes: The first step is to perform human-computer interaction in the battlefield environment control module according to the actual combat simulation mission requirements, add scene environment, simulation time, scene objectives, battlefield elements of both sides and their mission content, form unified battlefield scenario data, and send it to the heterogeneous simulation management module. The second step is that after the simulation portal in the heterogeneous simulation management module receives the scenario data, it generates different simulation source start instructions according to the type, model and affiliated simulation equipment of the combat element, matches the dedicated simulation source image to dynamically call the simulation hardware resources, and injects the initial state parameters of the battlefield unit to call and execute the simulation source module. The third step is to start the simulation source after it is started, and begin to solve the simulation model according to the injected initial state and mission content, and periodically distribute the flight status, sensor status and weapon status of battlefield elements to the outside world. The fourth step is that after receiving telemetry data sent by various simulation sources, the general protocol conversion module retrieves the respective communication protocol interface description files according to the model protocol correspondence table, and performs general protocol conversion and distribution. The fifth step is that the general protocol conversion module receives the extended DIS protocol data distributed by the general protocol conversion module, converts it into command-type telemetry protocol data, and forwards it to the UAV command simulation module. The sixth step is that after receiving command-type telemetry data, the UAV command simulation module performs global combat situation fusion and calls command-assisted decision-making or manual interface interaction to generate specific combat tasks for battlefield units. At the same time, it decomposes the tasks into specific remote control commands for each battlefield element and issues them. Step 7: After receiving the command-type remote control data sent by the UAV command simulation module, the general protocol conversion module retrieves the respective communication protocol interface files according to the model protocol correspondence table, performs dedicated protocol conversion, and distributes the designated battlefield elements. Step 8: After receiving the dedicated remote control command, the simulation source recalculates the simulation model according to the command content and the current model operation status, and periodically distributes the flight status, sensor status, and weapon status of battlefield elements to the outside world.

[0011] Preferably, the method further includes: During the simulation, the application scenario control module dynamically adjusts the generation and elimination of combat elements according to the simulation task, forming a command and control loop for combat elements from step three to step eight, which continues until the end of the simulation process. Finally, the resource management module receives the extended DIS protocol distributed by the general protocol conversion module, records the data, and performs data statistics after the simulation ends. It also conducts analysis work such as simulation environment combat effectiveness evaluation based on the combat objectives.

[0012] Beneficial technical effects of the present invention: The method for constructing a UAV command and control simulation verification system designed in this invention can realize the hybrid access and communication of simulation sources with different configurations, complete the unified scheduling of the battlefield environment and the multi-node synchronization of combat element information, use container images or virtual machines to complete the large-scale hybrid deployment of simulation sources with different configurations, complete the dynamic scheduling of simulation resources and the monitoring and management of equipment operation, decouple the overall environment software and hardware resources, decouple the communication protocols of simulation sources with different configurations, decouple dedicated simulation and basic services, and have high scalability of basic resources and simulation models. Attached Figure Description

[0013] Figure 1 A block diagram illustrating the composition of the UAV command and control simulation verification system provided in this application embodiment; Figure 2 Information interconnection diagram of the UAV command and control simulation verification system provided in the embodiments of this application; Figure 3 This is a business process diagram of the UAV command and control simulation verification system provided in the embodiments of this application; Figure 4 This diagram illustrates the extension methods for heterogeneous simulation sources in application scenarios. Detailed Implementation

[0014] This invention designs a distributed simulation communication bus by extending the DIS (Distributed Interactive Simulation) protocol, uses a simplified interface description file for protocol conversion, connects heterogeneous simulation sources and command simulation systems, and uses cloud platform container management to dynamically schedule resources of a large number of simulation sources. Under the unified scheduling of the application scenario control module, it realizes the simulation verification of overall battlefield command and dispatch, providing a good simulation verification platform for the research of key technologies for UAV command and control and collaborative integrated command and control systems in the future.

[0015] Based on the analysis of UAV application requirements, the UAV command and control simulation verification system designed in this invention mainly includes five parts: application scenario control module, UAV command simulation module, heterogeneous simulation management module, general protocol conversion module, and resource management module.

[0016] The application scenario control module is responsible for editing and distributing application scenario scenario scripts and dynamically adjusting the lifecycle of combat elements during simulation. The UAV command simulation module is used to verify different tactical command algorithms and expert evaluation system models, provide an operating environment for tactical command capabilities, increase personnel interaction at the command level, quickly dispatch and control UAV resources, and influence the battlefield simulation process. The heterogeneous simulation management module is a distributed simulation system that includes three types of simulation: physical simulation, virtual simulation, and structural simulation. Among them, the real equipment simulation is a human-operated real UAV ground station system, the virtual simulation is a simulation system influenced by the human-operated loop, and the construction simulation is a construction simulation system that is autonomously operated by a computer. The general protocol conversion module is responsible for the general protocol conversion algorithm based on the extended DIS protocol, which enables the physically dispersed real equipment, virtual, and construction simulation members to interconnect through protocol conversion and adaptation, so that the three types of simulation members can carry out battlefield simulation operation under a unified virtual situation. The resource management module is responsible for the dynamic resource scheduling of the virtual and construction simulations on the cloud platform, which uses the cloud platform's ability to expand resources to support the simultaneous simulation of a large number of simulated combat elements. It is also responsible for recording simulation process data, combat events, result analysis and evaluation, and visualization.

[0017] The method for constructing a UAV command and control simulation verification system designed in this invention is applicable to different types of UAV simulation systems. By extending the DIS protocol to design a distributed simulation communication bus, heterogeneous simulation sources and command simulation systems are connected to realize the construction of an overall battlefield command and dispatch simulation verification system. The main features of this invention are: 1) The extended DIS protocol is adopted as the general basic protocol for system simulation; 2) Employing application scenario control and management to achieve unified scheduling and synchronization of battlefield environment and combat element information; 3) Container cloud technology is used to host simulation resources, enabling dynamic management of simulation resources.

[0018] The method for constructing a UAV command and control simulation verification system designed in this invention can realize the hybrid access and communication of simulation sources with different configurations, complete the unified scheduling of the battlefield environment and the multi-node synchronization of combat element information, use container images or virtual machines to complete the large-scale hybrid deployment of simulation sources with different configurations, complete the dynamic scheduling of simulation resources and the monitoring and management of equipment operation, decouple the overall environment software and hardware resources, decouple the communication protocols of simulation sources with different configurations, decouple dedicated simulation and basic services, and have high scalability of basic resources and simulation models.

[0019] This system has completed dedicated simulation access for various UAV systems with different configurations and UAV command systems, as well as basic services such as 3D imaging simulation, container cloud management, device management, and network traffic analysis. It also provides integrated operation and maintenance display for battlefield 3D situation display, simulation node task display, battlefield troop deployment display, and container cloud resource status monitoring. It has been fully applied in UAV command and control simulation verification and has achieved good results in actual use, making it highly worthy of promotion.

[0020] The present invention will now be described in detail with reference to the accompanying drawings.

[0021] Figure 1 This is a block diagram of the UAV command and control simulation verification system designed in this invention.

[0022] The UAV command and control simulation verification system designed in this invention mainly includes five parts: application scenario control module, UAV command simulation module, heterogeneous simulation management module, general protocol conversion module, and resource management module.

[0023] The application scenario control module is divided into two parts: overall scenario planning management and dynamic guidance and control. Overall scenario planning management is mainly responsible for designing application scenarios based on actual simulation tasks, including combat elements of both sides, weather environment, non-combat targets in the scenario, and other elements. The dynamic guidance and control part is responsible for dynamically adjusting combat elements in the simulation scenario and controlling environmental changes during system operation.

[0024] As a platform carrying UAV command algorithms or command expert system models, the UAV command simulation module first requires real-time status information of the battlefield environment and participating node resources. Combined with intelligence information acquired through multiple channels, it renders the overall battlefield situation. Command commands are triggered through command algorithm calculations or human-computer interaction via a user interface, dynamically controlling the task content of friendly battlefield resources in the simulation scenario. This enables rapid simulation and effect comparison of different command schemes in battlefield simulation mission scenarios.

[0025] The heterogeneous simulation management module can receive data from the actual UAV system as battlefield element data in simulated training, and also serve as a data source for battlefield element simulation in the simulation environment. It can provide high-precision, highly realistic battlefield element simulation data to the simulation environment through virtual simulation sources and constructed simulation sources. The virtual simulation source combines interactive access from the actual ground station personnel with a flight simulation system, ensuring high-precision simulation of friendly personnel's battlefield element data within the loop while maintaining cost-effectiveness. The models in the constructed simulation source are relatively simplified, primarily responsible for simulating enemy battlefield units, scene environments, and non-battlefield targets within the scene.

[0026] The general protocol conversion module automatically converts and transmits various protocol data based on the extended DIS general protocol, solving the data protocol matching problem between different modules. The extended DIS general protocol mainly consists of the following parts: simulation process control protocol, simulation target flight data protocol, sensor detection data protocol, weapon status data protocol, engagement event data protocol, and simulation target control protocol. This module is responsible for matching and converting the actual UAV protocol, the simulated UAV protocol, and the extended DIS general protocol, achieving protocol interoperability between the modules.

[0027] The resource management module mainly consists of three parts: basic resource management, including maintenance of battlefield element types and models, management of communication parameters, and other basic data management applicable to the entire system; data recording and analysis, responsible for recording all scenario data and simulation process data, statistically analyzing network traffic, and conducting analysis such as battle damage statistics and battlefield effectiveness evaluation in conjunction with simulated battlefield mission objectives; and simulation resource management, which uses cloud platform containerized management tools to dynamically call simulation and construction simulation in the simulation source, can dynamically start and stop battlefield element simulation sources that conform to the scenario according to the simulation progress, and dynamically adjust hardware computing, storage, and network resources according to the simulation source requirements, realizing dynamic resource allocation for a large number of battlefield element simulation sources.

[0028] Figure 2 This is an information interconnection diagram of the UAV command and control simulation verification system in this invention.

[0029] This invention relates to network message data types, which mainly include: scenario scenario data, scenario element adjustment data, simulation source start / stop control data, UAV remote control data, UAV telemetry data, command telemetry data, and command remote control data.

[0030] Scenario scenario data and scenario element adjustment data are distributed through the application scenario control module. This type of data has a custom structure in this invention, mainly describing the environmental conditions in the scenario, the initial state of battlefield elements, the details of the planned tasks, the simulation-assigned equipment, and the simulation execution time. Scenario element adjustment data is generated during simulation execution and is used to control the generation and elimination of simulation targets. When it is necessary to simulate enemy battlefield units that were not added to the scenario scenario, enemy targets can be added in the interface, including enemy target attributes, initial position status, and expected task content.

[0031] UAV telemetry data is generated by the simulation source in the heterogeneous simulation management module and pushed to the general protocol conversion module. It is then forwarded according to the requirements of external system modules, mainly including flight status data, electromechanical data, payload data, weapon data, and link data. UAV remote control data is received by the general protocol conversion module and forwarded to the combat simulation source. UAV remote control and telemetry data are categorized into actual UAV protocols and simulated UAV protocols based on their data sources. Since the simulation sources for combat elements are developed by different research units and cannot coordinate and unify remote control and telemetry protocols, a protocol set dictionary is created based on the simulation model model. This dictionary is then uniformly converted into extended DIS protocol data by the general protocol conversion module for distribution.

[0032] Command-type telemetry data and command-type remote control data are converted by the general protocol conversion module into dedicated remote control and telemetry protocols that match their respective battlefield elements. Command-type telemetry data mainly provides the data foundation for the command simulation system to render the battlefield situation, while command-type remote control data is matched with dedicated remote control commands for their respective combat elements according to the combat orders, controlling the combat units to execute predetermined actions or issue task content.

[0033] Figure 3 This is a business process diagram of the UAV command and control simulation verification system in the present invention. The first step is to perform human-computer interaction in the battlefield environment control module according to the actual combat simulation mission requirements, add scene environment, simulation time, scene objectives, battlefield elements of both sides and their mission content, form unified battlefield scenario data, and send it to the heterogeneous simulation management module. The second step is that after the simulation portal in the heterogeneous simulation management module receives the scenario data, it generates different simulation source start instructions based on parameters such as the type, model, and affiliated simulation equipment of the combat element. It then matches the dedicated simulation source image to dynamically call simulation hardware resources and injects the initial state parameters of the battlefield unit to call and execute the simulation source module. The third step is to start the simulation source after it is started, and begin to solve the simulation model according to the injected initial state and task content, and periodically distribute telemetry data such as the flight status, sensor status, and weapon status of battlefield elements. The fourth step is that after receiving telemetry data sent by various simulation sources, the general protocol conversion module retrieves the respective communication protocol interface description files according to the model protocol correspondence table, and performs general protocol conversion and distribution. The fifth step is that the general protocol conversion module receives the extended DIS protocol data distributed by the general protocol conversion module, converts it into command-type telemetry protocol data, and forwards it to the UAV command simulation module. The sixth step is that after receiving command-type telemetry data, the UAV command simulation module performs global combat situation fusion and calls command-assisted decision-making or manual interface interaction to generate specific combat tasks for battlefield units. At the same time, it decomposes the tasks into specific remote control commands for each battlefield element and issues them. Step 7: After receiving the command-type remote control data sent by the UAV command simulation module, the general protocol conversion module retrieves the respective communication protocol interface files according to the model protocol correspondence table, performs dedicated protocol conversion, and distributes the designated battlefield elements. Step 8: After receiving the dedicated remote control command, the simulation source recalculates the simulation model according to the command content and the current model operation status, and periodically distributes telemetry data such as the flight status, sensor status, and weapon status of battlefield elements. During the simulation, the application scenario control module dynamically adjusts the generation and elimination of combat elements according to the simulation task, forming a command and control loop for combat elements from step three to step eight, which continues until the simulation ends. Finally, the resource management module receives the extended DIS protocol distributed by the general protocol conversion module, records the data, and performs data statistics after the simulation ends, conducting analysis such as combat effectiveness evaluation of the simulation environment based on the combat objectives. Figure 4 This diagram illustrates the application scenarios of the system in this invention, focusing on the expansion methods of heterogeneous simulation sources. The management of the virtual UAV system relies on the virtual UAV simulation portal, which receives start / stop commands for combat elements, calls up dedicated simulation images deployed in cloud platform containers, and injects parameters such as the initial state and mission content of each platform. The management of scenario targets and enemy UAV combat units relies on the construction target simulation portal, which receives application scenario scenario data and dynamic scenario adjustment data, and starts different construction simulation units. The construction simulation units can start multiple scenario target simulation sources to run simultaneously according to the configuration.

Claims

1. A simulation verification system for command and control of unmanned aerial vehicles (UAVs) using heterogeneous simulation sources, characterized in that, The system includes an application scenario control module, a drone command simulation module, a heterogeneous simulation management module, and a general protocol conversion module. The application scenario control module is divided into two parts: overall scenario scenario management and dynamic guidance control. The UAV command simulation module serves as a platform for carrying UAV command algorithms or command expert system models. The heterogeneous simulation management module receives data from the actual UAV system as battlefield element data in the simulation training, and also serves as a battlefield element simulation data source for the simulation environment. It provides high-precision and high-fidelity battlefield element simulation data to the simulation environment through virtual simulation sources and constructed simulation sources. The general protocol conversion module automatically converts and transmits various protocol data based on the extended DIS general protocol.

2. The system according to claim 1, characterized in that, The overall scenario planning management is responsible for designing application scenarios based on actual simulation tasks, including combat elements of both sides, weather conditions, and non-combat targets in the scenario.

3. The system according to claim 1, characterized in that, The dynamic guidance and control section is responsible for dynamically adjusting combat elements and controlling environmental changes in the simulation scenario during system operation.

4. The system according to claim 1, characterized in that, The UAV command simulation module first requires real-time status information of the battlefield environment and the node resources participating in the simulation. Combined with intelligence information obtained through multiple channels, it renders the overall battlefield situation. Through command algorithm calculation or human-computer interaction operation of the user interface, it triggers command commands to dynamically control the task content of our battlefield resources in the simulation scenario, realizing the simulation and effect comparison of different command schemes in the battlefield simulation task scenario.

5. The system according to claim 1, characterized in that, The virtual simulation source adopts a combination of real ground station personnel interactive access and flight simulation system to ensure high-precision simulation of our personnel's battlefield element data in the loop while maintaining economy.

6. The system according to claim 1, characterized in that, The model in the constructed simulation source is responsible for simulating enemy battlefield units, scene environment, and non-battlefield target elements in the scene.

7. The system according to claim 1, characterized in that, The system also includes a resource management module; The resource management module consists of three parts: Basic resource management, including the maintenance of battlefield element types and models, and the system-wide basic data management of communication parameters; Data recording and analysis: responsible for recording all scenario data and simulation process data, statistically analyzing network traffic, and conducting battle damage statistics and battlefield effectiveness assessment in conjunction with simulated battlefield mission objectives. Simulation resource management utilizes cloud platform containerized management tools to dynamically invoke simulation and construction simulations within the simulation source. It dynamically starts and stops battlefield element simulation sources that conform to the scenario assumptions based on the simulation progress, and dynamically adjusts hardware computing, storage, and network resources according to the simulation source requirements, thereby achieving dynamic resource allocation for a large number of battlefield element simulation sources.

8. A simulation verification method for command and control of unmanned aerial vehicles (UAVs) using heterogeneous simulation sources, characterized in that, The method is applied to the system as described in any one of claims 1-7, and the method comprises: The first step is to perform human-computer interaction in the battlefield environment control module according to the actual combat simulation mission requirements, add scene environment, simulation time, scene objectives, battlefield elements of both sides and their mission content, form unified battlefield scenario data, and send it to the heterogeneous simulation management module. The second step is that after the simulation portal in the heterogeneous simulation management module receives the scenario data, it generates different simulation source start instructions according to the type, model and affiliated simulation equipment of the combat element, matches the dedicated simulation source image to dynamically call the simulation hardware resources, and injects the initial state parameters of the battlefield unit to call and execute the simulation source module. The third step is to start the simulation source after it is started, and begin to solve the simulation model according to the injected initial state and mission content, and periodically distribute the flight status, sensor status and weapon status of battlefield elements to the outside world. The fourth step is that after receiving telemetry data sent by various simulation sources, the general protocol conversion module retrieves the respective communication protocol interface description files according to the model protocol correspondence table, and performs general protocol conversion and distribution. The fifth step is that the general protocol conversion module receives the extended DIS protocol data distributed by the general protocol conversion module, converts it into command-type telemetry protocol data, and forwards it to the UAV command simulation module. The sixth step is that after receiving command-type telemetry data, the UAV command simulation module performs global combat situation fusion and calls command-assisted decision-making or manual interface interaction to generate specific combat tasks for battlefield units. At the same time, it decomposes the tasks into specific remote control commands for each battlefield element and issues them. Step 7: After receiving the command-type remote control data sent by the UAV command simulation module, the general protocol conversion module retrieves the respective communication protocol interface files according to the model protocol correspondence table, performs dedicated protocol conversion, and distributes the designated battlefield elements. Step 8: After receiving the dedicated remote control command, the simulation source recalculates the simulation model according to the command content and the current model operation status, and periodically distributes the flight status, sensor status, and weapon status of battlefield elements to the outside world.

9. The method according to claim 8, characterized in that, The method further includes: During the simulation, the application scenario control module dynamically adjusts the generation and elimination of combat elements according to the simulation task, forming a command and control loop for combat elements from step three to step eight, which continues until the end of the simulation process. Finally, the resource management module receives the extended DIS protocol distributed by the general protocol conversion module, records the data, and performs data statistics after the simulation ends. It also conducts analysis work such as simulation environment combat effectiveness evaluation based on the combat objectives.

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