Time-asynchronous unmanned cluster network semi-physical implementation method and system

Abstract

The invention discloses a time-asynchronous unmanned cluster network semi-physical implementation method and system, and relates to unmanned cluster and network technologies, and the time-asynchronous unmanned cluster network semi-physical implementation system comprises a physical node which is a real physical device; the virtual node is used as a digital model of the physical node; the mapping node, the virtual node and the virtual time source form a virtual network, and the mapping node is used for state change synchronization and data interaction between the physical node and the virtual network; the virtual time source simulates a crystal oscillator of the physical node to provide a time source for the virtual network, and the virtual time source maintains a virtual timeline driven based on discrete events; and the physical node maintains the independent physical timeline work based on the crystal oscillator, and the physical node does not need to perform time synchronization with the virtual timeline. According to the method and the device, the consistency of node states can be maintained under the condition of time asynchronization between the virtual network and the physical node, so that correct operation of the semi-physical system is realized.

Description

Technical Field

[0001] This application relates to the fields of unmanned swarm and network technology, and in particular to a time-asynchronous unmanned swarm network hardware implementation method and system. Background Technology

[0002] Unmanned swarm networks are large-scale node networks composed of unmanned platforms such as drones, unmanned vehicles, or unmanned boats. These networks are characterized by their massive member size, self-organization, and dynamic topology. Semi-physical systems of unmanned swarm networks are widely used in the R&D phase for functional and performance verification, and in the application phase for network fault reproduction and precise location, red-blue team training and debriefing, etc. They can effectively reduce the consumption of manpower, material resources, and financial resources, and are an effective low-cost alternative to fully physical unmanned swarm networks.

[0003] A hardware-in-the-loop system, also known as a semi-physical system, is a system that combines physical nodes with virtual nodes (digital models implemented in software). First, the addition of physical nodes makes the operating results of a semi-physical system more realistic. Second, for unmanned swarm networks, organizing large-scale, fully physical experiments is extremely costly. By using a semi-physical system, large-scale swarm networks can be organized with only a small number of physical nodes, effectively reducing costs.

[0004] CN 112327667 A discloses a semi-physical simulation element design method for large-scale unmanned swarm networks. However, this method lacks consideration of the asynchronous operation speeds of physical nodes and virtual nodes, which will lead to insufficient reliability of the results. In addition, the access of physical nodes to the virtual network depends on dedicated access equipment for processing electromagnetic wave signals, which increases the additional cost. At the same time, the access equipment needs to be customized and cannot be adapted to the communication waveforms of all unmanned platforms, which seriously limits the application and promotion of the semi-physical system.

[0005] The software-implemented unmanned swarm network employs a discrete event-driven processing mechanism. After the current event is processed serially, time jumps to the response time of the next event. Therefore, the virtual time maintained by the virtual network is not strictly synchronized with physical time. In a semi-physical system, the event processing volume increases dramatically with the increase in the scale of virtual nodes. This causes the response speed of virtual nodes to the same event to lag significantly behind that of physical nodes (although multi-core processors can achieve some parallel computation, the improvement for large-scale node networks is limited). To maintain the synchronization between virtual and physical time, common solutions include simplifying the virtual node model while limiting the size of virtual nodes, or artificially setting physical nodes to run according to virtual time. Simplifying the virtual node model can reduce the computational load of virtual nodes, but it significantly reduces the realism of the semi-physical system; while artificially setting physical nodes to run according to virtual time will cause them to operate under abnormal temporal logic, potentially producing unpredictable results and severely reducing the realism of the physical nodes, rendering the semi-physical system meaningless. Summary of the Invention

[0006] This application provides a time-asynchronous unmanned cluster network semi-physical implementation method and system. A mapping node is introduced into the virtual network. The mapping node acts as a bridge between the physical nodes and the virtual network, realizing the consistency of node states under the condition of time asynchrony between the virtual network and the physical nodes, thereby realizing the correct operation of the semi-physical system.

[0007] This application provides a time-asynchronous unmanned cluster network semi-physical system. The unmanned cluster includes physical nodes and a virtual network. The virtual network includes mapping nodes, virtual nodes, and a virtual time source, wherein: The physical nodes are real physical devices, and the physical nodes form a real physical network to achieve communication; The virtual node, as a digital model of the physical node, executes program code that is consistent with the logical function of the physical node; The unmanned cluster forms a semi-physical system, with the virtual network as the main body and physical nodes as the access parties. The mapping node, virtual node, and virtual time source form a virtual network. The mapping node is used for the synchronization of state changes and data interaction between the physical node and the virtual network. The virtual time source simulates the crystal oscillator of a physical node to provide a time source for the virtual network, and the virtual time source maintains a virtual timeline based on discrete event-driven operation. The physical nodes operate on an independent physical timeline based on the crystal oscillator. The physical nodes do not need to synchronize with the virtual timeline, and the physical nodes synchronize with each other to ensure normal signal transmission and reception.

[0008] This application provides a semi-physical implementation method for a time-asynchronous unmanned cluster network, applied to an unmanned cluster including physical nodes and a virtual network. The virtual network includes mapping nodes, virtual nodes, and a virtual time source. The physical nodes are real physical devices, and the physical nodes form a real physical network to achieve communication. The virtual nodes serve as digital models of the physical nodes, executing program code consistent with the logical functions of the physical nodes. The unmanned cluster forms a semi-physical system, with the virtual network as the main body, physical nodes as access points, and mapping nodes forming a virtual network with each other, mapping nodes and virtual nodes, and the virtual time source and mapping nodes. The implementation method includes: The virtual time source is controlled to simulate the crystal oscillator of the physical node to provide a time source for the virtual network. The virtual time source maintains a virtual timeline based on discrete event-driven operation. The physical nodes are controlled to operate on an independent physical timeline based on the crystal oscillator. The physical nodes do not need to synchronize with the virtual timeline, and the physical nodes synchronize with each other to ensure normal signal transmission and reception. The mapping node is controlled for synchronizing state changes and data interaction between physical nodes and the virtual network.

[0009] This application's embodiments design a semi-physical system consisting of time-asynchronous physical nodes and a virtual network. The physical nodes operate under normal sequential logic (physical time) and are driven by a linear time processing mechanism, while the virtual network operates under virtual sequential logic (virtual time) and is driven by a discrete event processing mechanism. The two maintain state synchronization through mapping nodes to ensure the correct operation of the semi-physical system under time-asynchronous conditions.

[0010] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0011] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the composition of the time-asynchronous unmanned cluster network semi-physical system according to an embodiment of this application; Figure 2 This is a schematic diagram illustrating the connection relationship between the mapping node and the members of the time-asynchronous unmanned cluster network semi-physical system in an embodiment of this application. Figure 3 This diagram illustrates the asynchronous time relationship between the virtual network and physical nodes in a time-asynchronous unmanned cluster network semi-physical system according to an embodiment of this application. Figure 4 This is a schematic diagram of the state transition of the mapping node in the time-asynchronous unmanned cluster network semi-physical system of this application embodiment; Figure 5 This is a schematic diagram of the time-asynchronous working mechanism of the mapping node of the time-asynchronous unmanned cluster network semi-physical system in an embodiment of this application. Figure 6 This is a schematic diagram of the physical node joining process of the mapping node of the time-asynchronous unmanned cluster network semi-physical system in an embodiment of this application. Figure 7 This is a schematic diagram of the business interaction process between the physical node and the virtual node of the mapping node in the time-asynchronous unmanned cluster network semi-physical system of this application embodiment. Figure 8 This is a schematic diagram of the physical node de-networking process (node ​​side) of the mapping node of the time-asynchronous unmanned cluster network semi-physical system in this application embodiment; Figure 9 This is a schematic diagram of the physical node decommissioning process (base station side) of the mapping node of the time-asynchronous unmanned cluster network semi-physical system in this application embodiment; Figure 10 This is a schematic diagram of the workflow of the time-asynchronous unmanned cluster network semi-physical system according to an embodiment of this application. Detailed Implementation

[0012] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0013] This application provides a time-asynchronous unmanned cluster network semi-physical system, such as... Figure 1 As shown, the unmanned cluster includes physical nodes and a virtual network. The virtual network includes mapping nodes, virtual nodes, and a virtual time source, wherein: The physical nodes are real physical devices. The physical nodes form a real physical network to achieve communication. The semi-physical system contains only a small number of physical nodes.

[0014] The virtual node, as a digital model of the physical node, executes program code with the same logical function as the physical node. No model simplification is required, and the number of virtual nodes can be replicated in the virtual network without limitation.

[0015] The unmanned cluster forms a semi-physical system, with the virtual network as the main body and physical nodes as the access parties. A virtual network is formed by mapping nodes, virtual nodes, and a virtual time source. The mapping nodes are used for synchronizing state changes and facilitating data interaction between physical nodes and the virtual network. In this specific example, the mapping nodes do not involve the execution of any logical function code from the physical nodes, and the number of mapping nodes is consistent with the number of physical nodes. The virtual network supports the custom construction of node models, channel models, and network models, and also supports the configuration of network parameters such as virtual node size, network coverage, node communication distance, and node trajectory. The configuration of physical node parameters in the virtual network is achieved by configuring the corresponding mapping node parameters.

[0016] The virtual time source simulates the crystal oscillator of a physical node to provide a time source for the virtual network, and the virtual time source maintains a virtual timeline based on discrete event-driven operation. The physical nodes operate on an independent physical timeline based on the crystal oscillator. The physical nodes do not need to synchronize with the virtual timeline, and the physical nodes synchronize with each other to ensure normal signal transmission and reception.

[0017] A specific network setup includes: physical nodes communicating via wireless channels, forming a real physical network with a small number of physical nodes. Physical nodes are connected to the virtual network via low-cost Ethernet cables. Mapping nodes communicate with each other, with virtual nodes, and with the virtual time source and mapping nodes via virtual channels, forming a virtual network. This virtual network is implemented in software and deployed on a general-purpose computer. The interface between the mapping nodes and system members is implemented using a socket interface, with unique addressing achieved through IP address and port number. Figure 2 As shown.

[0018] In the specific example of this application, the virtual time source maintains a virtual timeline driven by discrete events (such as time slot interrupts, message reception, etc.), so the virtual network can easily maintain time synchronization through the same time slot interrupt.

[0019] Physical nodes maintain an independent physical timeline based on crystal oscillators (electronic components that provide clock signals) and operate normally without needing to synchronize with the virtual network. Physical nodes synchronize with each other to ensure the normal transmission and reception of electromagnetic wave signals. The time synchronization methods between physical nodes include, but are not limited to, the following: (1) external time source timing (such as GPS, Beidou, etc.); (2) autonomous time synchronization, where one physical node is elected or designated as the time reference node, and other physical nodes synchronize with the time reference node.

[0020] In some embodiments of this application, the physical node maintains an independent physical timeline based on a crystal oscillator. The time of the physical timeline is divided into multiple time slots, and each physical node has an allocated time slot. The time does not stop because the events of a certain node have not been processed, and execution continues.

[0021] In some embodiments of this application, the virtual network, after all event interruptions at a certain point in time have been responded to, will directly jump to the next event interruption point in time.

[0022] In this application, time synchronization is not required between physical nodes and the virtual network. The asynchronous time relationship between physical nodes and the virtual network is shown in Figure 3. The physical timeline of the physical node is driven by a clock signal (crystal oscillator), and time is divided into multiple time slots. Each physical node has an allocated time slot, and time will not stop because an event at a certain node has not been processed. The virtual timeline of the virtual network is driven by discrete events. When all event interruptions at a certain point in time are responded to, the virtual time jumps directly to the next event interruption point. Therefore, the virtual timeline and the physical timeline are independent. This invention innovatively introduces a mapping node to achieve state synchronization and data interaction between physical nodes and the virtual network, enabling asynchronous operation between the virtual network and the physical network without affecting the operational results of the semi-physical system.

[0023] In some embodiments of this application, the mapping node is used to enable the virtual network and the real physical network of the physical node to operate asynchronously in time, without affecting the operating results of the semi-physical system.

[0024] In some embodiments of this application, the mapping node serves as the entry and exit point for physical nodes to access the virtual network. The content synchronized by the mapping node includes node status, network status, message reception, and message sending. In a specific example, any change in the status of the physical node or the mapping node, including node status, network status, and message sending and receiving, needs to be synchronized to the other party in a timely manner. The main states to be synchronized and the data to be exchanged are shown in Table 1.

[0025] Table SEQ Table * ARABIC 1 State synchronization and data interaction between mapping nodes and physical nodes Serial Number state Synchronization direction illustrate 1 Node status Physical node ⇔ Mapped node Includes network entry / exit, authentication, link packet loss rate, initial configuration parameters, etc. 2 Network status Physical node ⇔ Mapped node Includes information such as the number of network members, the number of clusters, the time-frequency resource allocation status, the status of neighboring nodes, and the routing table. 3 Message reception Mapping node ⇔ Physical node Business messages, network maintenance messages, etc. 4 Message sending Physical node ⇔ Mapped node Business messages, network maintenance messages, etc. The mapping node responds to the event interruption of the corresponding physical node in the virtual network, and synchronizes the real-time status as shown in Table 1 to the physical node. The physical node then actually responds to the event interruption and synchronizes the event response result to the mapping node. The mapping node enables the transmission of the event response result of the physical node in the virtual network.

[0026] In some embodiments of this application, the mapping node is specifically configured as follows: After the semi-physical system starts running, it enters the initialization state and then enters the waiting state. When any content that needs to be synchronized appears, the mapping node is activated. A synchronization event is triggered when the mapping node senses a change in the virtual network or node status, or a change in the status of a physical node or network. After receiving a message from a virtual network or a physical node, the mapping node triggers a forwarding event, forwarding the message to the physical node or broadcasting the message to the virtual network.

[0027] In some embodiments of this application, the mapping node, after receiving a time slot interruption from the virtual time source, performs virtual time timing in order to output results and wait; After the semi-physical system finishes running, the mapping node outputs statistical results.

[0028] Specifically, such as Figure 4 As shown, the working mechanism of the mapping node includes: 1) When the system starts running, each mapping node starts from the initialization state and enters the idle waiting state. If a state change as shown in Table 1 occurs, the state transition of the mapping node will be activated.

[0029] 2) After the mapping node senses a change in the virtual network or node state, it triggers a synchronization event and sends the corresponding state change amount to the physical node.

[0030] 3) After the mapping node receives a change in the status of the physical node or network, it triggers a synchronization event and broadcasts the corresponding status change to the virtual network.

[0031] 4) After receiving a virtual network message, the mapping node triggers a forwarding event and forwards the corresponding message to the physical node.

[0032] 5) After receiving the message from the physical node, the mapping node triggers a forwarding event and broadcasts the response message to the virtual network.

[0033] 6) After receiving a time slot interrupt from the virtual time source, the mapping node performs virtual time timing for result output, etc.

[0034] 7) After the system stops running, the mapping node outputs various statistical results such as network access time and service throughput, and then returns to the initialization state.

[0035] In some embodiments of this application, the mapping node is further configured as follows: For event A of the physical node, the mapping node responds to event A by broadcasting event A to the neighboring virtual node, so that event A enters the event queue of the neighboring virtual node. After all events in the event queue have been processed, the neighboring virtual node responds to the interrupt of the next time slot and sends the response result event B of event A to the mapping node at the first moment of the next time slot.

[0036] In a specific example, the asynchronous time-based working mechanism of the semi-physical system based on mapping nodes is shown in Figure 5. The event interaction process of the physical nodes includes: 1) For a certain event A of a physical node, the transmission delay of the event to the neighboring physical node through the wireless channel is assumed to be t1; 2) After a neighboring physical node receives event A, it generates a response event B for that event; 3) Event B is sent at the start of the next time slot and arrives at the physical node after a transmission delay of t1; 4) Therefore, the time required for the handshake interaction process of "Event A - Event B" between a physical node and its neighboring physical nodes is t5 = t0 + t1; Meanwhile, the event interaction process between physical nodes and virtual nodes based on mapping nodes is as follows: 1) For a certain event A of a physical node, the time it takes for the event to be synchronized to its mapping node via Ethernet is assumed to be negligible; 2) However, due to the non-real-time processing capability of general-purpose CPUs, event A first enters the event queue of the mapping node, waits for the previous events to be processed, and then the mapping node responds to event A, and the response result is to broadcast event A to neighboring virtual nodes. 3) Similarly, event A enters the event queue of the neighboring virtual node. After all events in the queue have been processed, the neighboring virtual node responds to the interrupt in the next time slot and sends the response result event B of event A to the mapping node at the first moment of the next time slot. 4) Similarly, event B enters the event queue of the mapping node. After the events before this event are processed, the event is synchronized to the physical node.

[0037] 5) Therefore, the time required for the handshake interaction process of "Event A - Event B" between the physical node and the neighboring virtual node is t6 = t2 + t3 + t4.

[0038] This application also proposes 1) a physical node network access process based on mapped nodes. Mapping nodes implement the network entry process of physical nodes in a virtual network, as follows: Figure 6As shown in the diagram, the base station nodes in the virtual network are responsible for network establishment. After powering on, the base station nodes periodically broadcast base station messages. Upon receiving these messages, the mapping nodes synchronize with the corresponding physical nodes. The physical nodes generate network access application messages based on the received base station messages and synchronize them with the corresponding mapping nodes. The mapping nodes respond to the corresponding time slot interrupt by sending network access application messages, wait for the network access response message from the base station nodes, and then synchronize with the physical nodes. After receiving the network access response message, the physical nodes obtain authentication and network resource allocation, completing the network access process. After the physical nodes have completed network access, subsequent periodic network maintenance messages and service messages are all accessed through the mapping nodes to the virtual network.

[0039] 2) Business interaction process between physical nodes and virtual nodes based on mapping nodes Mapping nodes enable business interaction processes between physical nodes and virtual nodes, such as... Figure 7 As shown. For example, when a virtual node sends a request message to query the status of a physical node, the query message is first received by the mapping node corresponding to the physical node and then synchronized to the physical node. Then, the physical node generates a corresponding response message and synchronizes it to the mapping node. Finally, the mapping node responds to the corresponding time slot interrupt and sends the response message to the corresponding virtual node.

[0040] 3) Physical node decommissioning process based on mapping nodes Mapping nodes implement the process of physical nodes leaving the virtual network as follows: Figure 8 , Figure 9 As shown. When a physical node does not detect any messages from a base station node within a limited virtual time, it is determined to be disconnected from the network. The physical node updates its status to "out of network" and synchronizes with the corresponding mapped node. When a base station node does not detect any messages from a physical node within a limited virtual time, it is determined to be disconnected from the network, and its status is updated to "out of network." In the above out-of-network process, the time limit is determined as virtual time, based on the number of time slot interruptions in the virtual network.

[0041] The semi-physical system proposed in this application solves the time synchronization problem when physical nodes access the virtual network in traditional unmanned cluster semi-physical systems. It realizes a time-asynchronous unmanned cluster semi-physical system. The virtual network can provide large-scale node cluster networking, and the physical nodes can introduce a real physical (wireless communication) environment under normal timing logic, effectively improving the authenticity of the system operation results.

[0042] In this design, the virtual nodes do not require reducing model granularity to minimize computational load. They support running program code with logic consistent with physical nodes, reducing development costs while making system results more realistic and reliable. This effectively improves accuracy in application scenarios such as network fault reproduction and localization, and red-blue team training and debriefing. This application uses a mapping node (software implementation) method to enable physical nodes to access the virtual network, eliminating the need for additional dedicated access equipment. This low cost advantage facilitates the application and promotion of the method.

[0043] This application also proposes a semi-physical implementation method for a time-asynchronous unmanned cluster network, applied to an unmanned cluster including physical nodes and a virtual network. The virtual network includes mapping nodes, virtual nodes, and a virtual time source. The physical nodes are real physical devices, and the physical nodes form a real physical network to achieve communication. The virtual nodes serve as digital models of the physical nodes, executing program code consistent with the logical functions of the physical nodes. The unmanned cluster forms a semi-physical system, with the virtual network as the main body, physical nodes as access points, and mapping nodes forming a virtual network with each other, mapping nodes and virtual nodes, and the virtual time source and mapping nodes. The implementation method includes: The virtual time source is controlled to simulate the crystal oscillator of the physical node to provide a time source for the virtual network. The virtual time source maintains a virtual timeline based on discrete event-driven operation. The physical nodes are controlled to operate on an independent physical timeline based on the crystal oscillator. The physical nodes do not need to synchronize with the virtual timeline, and the physical nodes synchronize with each other to ensure normal signal transmission and reception. The mapping node is controlled for synchronizing state changes and data interaction between physical nodes and the virtual network.

[0044] The specific workflow is as follows: Figure 10 As shown, it includes: Step 1: Configure the parameters of the unmanned cluster network semi-physical system, such as the network node size, network coverage, node communication distance, etc.

[0045] Step 2: The system starts running, the virtual network begins to work, the mapped node is in a powered-off state, and the physical node is powered on and started.

[0046] Step 3: After the physical node completes its initialization upon power-on, it synchronizes its state with the mapped node in the virtual network via a socket interface. The mapped node is synchronized from the power-off state to the working state.

[0047] Step 4: After the physical node and the mapping node complete the state synchronization, the physical node in the virtual network is connected. The subsequent network access process and business message sending and receiving process are then executed.

[0048] Step 5: Trigger the corresponding interrupt events in sequence according to the set scenario.

[0049] Step Six: When the interrupt event that terminates system operation is triggered, the system stops running and outputs the running results, such as the number of network members, network access time, network service throughput, service transmission latency, link packet loss rate, etc.

[0050] It should be noted that, in the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0051] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0052] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, 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 is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0053] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.

Claims

1. A time-asynchronous unmanned cluster network semi-physical system, characterized in that, The unmanned cluster includes physical nodes and a virtual network. The virtual network includes mapping nodes, virtual nodes, and a virtual time source, wherein: The physical nodes are real physical devices, and the physical nodes form a real physical network to achieve communication; The virtual node, as a digital model of the physical node, executes program code that is consistent with the logical function of the physical node; The unmanned cluster forms a semi-physical system, with the virtual network as the main body and physical nodes as the access parties. The mapping node, virtual node, and virtual time source form a virtual network. The mapping node is used for the synchronization of state changes and data interaction between the physical node and the virtual network. The virtual time source simulates the crystal oscillator of a physical node to provide a time source for the virtual network, and the virtual time source maintains a virtual timeline based on discrete event-driven operation. The physical nodes operate on an independent physical timeline based on the crystal oscillator. The physical nodes do not need to synchronize with the virtual timeline, and the physical nodes synchronize with each other to ensure normal signal transmission and reception.

2. The time-asynchronous unmanned cluster network semi-physical system as described in claim 1, characterized in that, The physical node maintains an independent physical timeline based on the crystal oscillator. The time of the physical timeline is divided into multiple time slots. Each physical node has an assigned time slot, and the time does not stop because the events of a certain node have not been processed, but continues to execute.

3. The time-asynchronous unmanned cluster network semi-physical system as described in claim 2, characterized in that, When all responses to an event interruption at a certain point in time are completed in the virtual network, the virtual time will jump directly to the next point in time of the event interruption.

4. The time-asynchronous unmanned cluster network semi-physical system as described in claim 3, characterized in that, The mapping node is used to enable asynchronous operation between the virtual network and the real physical network of the physical node, without affecting the operation result of the semi-physical system.

5. The time-asynchronous unmanned cluster network semi-physical system as described in claim 4, characterized in that, The mapping node serves as the entry and exit point for physical nodes to access the virtual network. The content synchronized by the mapping node includes node status, network status, message reception, and message sending.

6. The time-asynchronous unmanned cluster network semi-physical system as described in claim 1, characterized in that, The mapping node is specifically configured as follows: After the semi-physical system starts running, it enters the initialization state and then enters the waiting state. When any content that needs to be synchronized appears, the mapping node is activated. When the mapping node senses a change in the state of the virtual network or node, or a change in the state of the physical node or network, a synchronization event is triggered. After receiving a message from a virtual network or a physical node, the mapping node triggers a forwarding event, forwarding the message to the physical node or broadcasting the message to the virtual network.

7. The time-asynchronous unmanned cluster network semi-physical system as described in claim 6, characterized in that, Upon receiving a time slot interrupt from the virtual time source, the mapping node performs virtual time timing in order to output the result and wait. After the semi-physical system finishes running, the mapping node outputs statistical results.

8. The time-asynchronous unmanned cluster network semi-physical system as described in claim 6, characterized in that, The mapping node is also configured as follows: For event A of the physical node, the mapping node responds to event A by broadcasting event A to the neighboring virtual node, so that event A enters the event queue of the neighboring virtual node. After all events in the event queue have been processed, the neighboring virtual node responds to the interrupt of the next time slot and sends the response result event B of event A to the mapping node at the first moment of the next time slot.

9. A time-asynchronous unmanned cluster network semi-physical implementation method, characterized in that, It is applied to unmanned clusters that include physical nodes and virtual networks. The virtual network includes mapping nodes, virtual nodes, and virtual time sources. The physical nodes are real physical devices. The physical nodes form a real physical network to achieve communication. The virtual node, as a digital model of the physical node, executes program code consistent with the logical functions of the physical node; the unmanned cluster forms a semi-physical system, with the virtual network as the main body, physical nodes as access points, and the virtual network consisting of mapping nodes, mapping nodes and virtual nodes, and virtual time sources and mapping nodes. The implementation method includes: The virtual time source is controlled to simulate the crystal oscillator of the physical node to provide a time source for the virtual network. The virtual time source maintains a virtual timeline based on discrete event-driven operation. The physical nodes are controlled to operate on an independent physical timeline based on the crystal oscillator. The physical nodes do not need to synchronize with the virtual timeline, and the physical nodes synchronize with each other to ensure normal signal transmission and reception. The mapping node is controlled for synchronizing state changes and data interaction between physical nodes and the virtual network.

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