A dual-time reference mapping method and system in a drone speedup simulation

Abstract

The application provides a dual-time reference mapping method and system in unmanned aerial vehicle speed-up simulation, and belongs to the technical field of unmanned aerial vehicle speed-up simulation.The application directly takes a fixed integral step length corresponding to an unmanned aerial vehicle dynamics model as a virtual time step length, takes a virtual time reference system as a reference, and performs speed-up simulation on the unmanned aerial vehicle according to the virtual time step length; physical trigger time nodes are determined according to a physical time reference system, a speed-up factor and the virtual time step length, so that the fixed integral step length corresponding to the unmanned aerial vehicle dynamics model can be kept unchanged in the whole unmanned aerial vehicle speed-up simulation process, the high-frequency dynamic characteristics of a rotor unmanned aerial vehicle, such as rotor unmanned aerial vehicle rotor flapping and aerodynamic response, are avoided in the speed-up simulation process, and the technical problem that the speed-up simulation of the unmanned aerial vehicle is performed by modifying the integral step length of the unmanned aerial vehicle dynamics model, the mathematical characteristics of the unmanned aerial vehicle dynamics model are distorted, and greater errors are caused is solved.

Description

Technical Field

[0001] This invention belongs to the field of UAV speed-up simulation technology, specifically a dual-time reference mapping method and system for UAV speed-up simulation. Background Technology

[0002] The UAV simulation training platform is a comprehensive system integrating high-fidelity dynamics modeling, virtual reality interaction, and distributed network communication. It serves as a core platform for enhancing operators' task execution capabilities and validating tactical decision-making abilities. Through high-fidelity virtual scenarios, the platform enables operators to master flight control, task execution, and emergency response skills under zero-risk conditions. In scenarios such as rapid scenario simulation, multi-condition batch verification, and emergency response drills, UAV simulation training typically requires accelerated simulation to improve efficiency and meet the simulation requirement of "covering multiple scenarios in a short time." Therefore, accelerated UAV simulation has become an urgent need. Accelerated UAV simulation refers to using technical means to make the virtual time in the simulation environment exceed the rate of physical time passage, thereby accelerating the process of algorithm training, testing, and verification.

[0003] However, existing technologies for speed-multiplication simulations often employ a single time base combined with multi-step loops. This involves repeatedly executing simulation steps within a single physical time period to achieve speed-multiplication simulation. However, this mechanism results in a segmented, continuous distribution of virtual time. When the simulation speed factor is adjusted or the system lags, timestamp jumps can easily occur, disrupting the timing consistency of sensor data and control commands, thus affecting the reliability of the simulation results. To address the reliability issue caused by speed-multiplication simulations, existing technologies use methods that modify the integral step size of the UAV's dynamic model. However, repeated verification has revealed that the high-frequency dynamic characteristics of rotorcraft UAVs, such as rotor flapping and aerodynamic response, are highly sensitive to the integral step size of their dynamic model. Modifying the integral step size of the UAV's dynamic model distorts its mathematical properties; higher speeds result in greater errors, failing to meet the requirements for high-precision UAV simulation. Summary of the Invention

[0004] This invention provides a dual-time reference mapping method and system for UAV speed-up simulation, which solves the technical problem of large errors caused by modifying the integral step size of the UAV dynamics model in the prior art.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A dual-time reference mapping method for UAV speed-up simulation includes the following steps: Parameter acquisition: Acquire the flight parameters of the UAV simulation, the real-time adjustable speed factor, and the fixed integration step size corresponding to the UAV dynamics model; Establish a time reference system: Starting from the simulation start time, establish and maintain a physical time reference system and a virtual time reference system; Determine the trigger time node: Dynamically calculate the expected frame interval in the physical time domain based on the physical time reference system, the speed factor, and the virtual time step, and determine the next physical trigger time node based on the expected frame interval in the physical time domain. Accelerated Simulation: Using a virtual time reference system as the reference, physical trigger time nodes as response nodes, and flight parameters of UAV simulation as input, the fixed integral step size corresponding to the UAV dynamics model is used as the virtual time step size. The UAV control model is then solved, and the virtual simulation time is advanced to perform accelerated simulation of the UAV. Alignment mapping: In the process of speeding up the simulation of the UAV, physical trigger time nodes are used for real-time monitoring, and physical time and virtual time are aligned and mapped.

[0006] Further specifying, the physical time reference system includes starting absolute time. Expected execution time and local frame counter; The virtual time reference system includes a virtual time axis. Virtual time start value And total frame counter.

[0007] Furthermore, the dual-time reference mapping method in the UAV speed-up simulation also includes updating the data F of the total frame counter and the data N of the local frame counter after completing one UAV control model calculation, recalculating the virtual timestamp based on the updated data F of the total frame counter, and recalculating the next physical trigger time node based on the updated data N of the local frame counter.

[0008] Further specifying, the expected execution time It is based on the absolute startup time The data N of the local frame counter and the expected frame interval in the physical time domain. Certain; The expected frame interval in the physical time domain It is determined based on the speed factor and the virtual time step.

[0009] Further specifying, the real-time monitoring of physical trigger time nodes during the accelerated simulation of the UAV, and the alignment and mapping of physical time and virtual time, includes: During the accelerated simulation of the UAV, the simulation process is monitored in real time based on the physical trigger time node to determine whether the accelerated simulation process has reached a new trigger time node. If the new trigger time node is not reached, the drone will enter hibernation mode and remain dormant until the next trigger time node before triggering the drone control model to solve the problem. If a new trigger time node is reached, the UAV control model is immediately triggered to solve the problem, and the step of determining the trigger time node and aligning the mapping is performed to align the physical time and virtual time.

[0010] Furthermore, the method of using physical trigger time nodes for real-time monitoring during the accelerated simulation of the UAV, and aligning and mapping physical time with virtual time, also includes: During the speed-multiplication simulation of the drone, the speed multiplication factor is monitored in real time to see if it changes. If the speed factor does not change, continue the speed simulation of the UAV. If the speed factor changes, the physical time reference system is initialized, and the current physical time is assigned to the startup absolute time. and expected execution time The local frame counter is cleared, while the virtual time reference system and the total frame counter remain unchanged. The step of determining the trigger time node and aligning the mapping is then performed to align the physical time and the virtual time.

[0011] Furthermore, the method of using physical trigger time nodes for real-time monitoring during the accelerated simulation of the UAV, and aligning and mapping physical time with virtual time, also includes: Set schedule deviation threshold ; During the accelerated simulation of the drone, the current simulation time and the expected execution time are calculated in real time. The deviation between the two is determined, and it is determined whether the deviation is greater than the schedule deviation threshold. ; If not, continue with the accelerated simulation of the drone; If so, initialize the physical time reference system and assign the current physical time to the startup absolute time. and expected execution time The local frame counter is cleared, while the virtual time reference system and the total frame counter remain unchanged. The step of determining the trigger time node and aligning the mapping is then performed to align the physical time and the virtual time.

[0012] Furthermore, the flight parameters of the simulated UAV include the UAV's flight path instructions, the UAV's remote adjustment instructions, and the UAV's action instructions.

[0013] Furthermore, the UAV control model includes a UAV navigation and flight control model and a UAV dynamics model; Within a virtual time step, the UAV's flight path command, remote adjustment command, and motion command are input into the UAV navigation and flight control model to calculate the UAV's control commands. The control commands of the UAV are input into the UAV dynamics model to calculate the speed and position information of the UAV, thereby completing the UAV speed simulation within a virtual time step.

[0014] The dual-time-reference mapping system for UAV speed-multiplication simulation, formed using the aforementioned dual-time-reference mapping method, includes: Parameter acquisition module: used to acquire flight parameters of UAV simulation, real-time adjustable speed factor, and fixed integration step size corresponding to UAV dynamics model; Time reference system establishment module: used to establish and maintain the physical time reference system and the virtual time reference system starting from the simulation start time; Trigger Time Node Determination Module: Used to dynamically calculate the expected frame interval in the physical time domain based on the physical time reference system, speed factor and virtual time step, and determine the next physical trigger time node based on the expected frame interval in the physical time domain. Speed-up Simulation Module: This module uses a virtual time reference system as the reference, physical trigger time nodes as response nodes, and UAV flight parameters as input. It takes the fixed integral step size corresponding to the UAV dynamics model as the virtual time step size, performs the solution of the UAV control model, advances the simulation virtual time, and performs speed-up simulation of the UAV. And the alignment mapping module: used to perform real-time monitoring of physical trigger time nodes during the accelerated simulation of UAVs, and to align and map physical time and virtual time.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention provides a dual-time reference mapping method for UAV speed-multiplication simulation. It directly uses the fixed integral step size corresponding to the UAV dynamics model as the virtual time step size. Using the virtual time reference system as a benchmark, the UAV speed-multiplication simulation is performed according to the virtual time step size. Then, the physical trigger time node is determined based on the physical time reference system, the speed multiplication factor, and the virtual time step size. This ensures that the fixed integral step size corresponding to the UAV dynamics model remains constant throughout the entire UAV speed-multiplication simulation process, avoiding interference with high-frequency dynamic characteristics such as rotor flapping and aerodynamic response of the rotary UAV during the speed-multiplication simulation. It solves the technical problem in existing technologies where modifying the integral step size of the UAV dynamics model during speed-multiplication simulation leads to distortion of the mathematical characteristics of the UAV dynamics model and results in greater errors.

[0016] 2. The dual-time reference mapping method in the UAV speed-multiplication simulation of the present invention separates virtual time and physical time, and achieves the instantaneous response of speed factor adjustment and absolute continuity of virtual time axis while keeping the fixed integral step size corresponding to the UAV dynamics model unchanged, thus ensuring the timing accuracy of simulation calculation.

[0017] 3. In the process of speed-up simulation of UAVs, when a new trigger time node is reached, the speed-up factor changes, or the deviation between the current simulation time and the expected execution time exceeds the progress deviation threshold, the present invention aligns and maps the physical time and virtual time by initializing the physical time reference system, so that the speed-up simulation process responds quickly, not exceeding one frame period, thereby improving the system response speed and solving the technical problem of disturbance in the speed-up factor switching of the prior art. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the real-time speed-multiplying simulation method for UAVs based on dual-time-reference mapping according to the present invention; Figure 2 This is a schematic diagram of the UAV real-time speed-multiplying simulation system based on dual time reference mapping according to the present invention; Figure 3 This is a schematic diagram illustrating the principle of dual-time-base mapping. Detailed Implementation

[0019] The technical solution of the present invention will be further explained and described below with reference to the accompanying drawings and embodiments, but the present invention is not limited to the embodiments described below.

[0020] See Figure 1 This invention proposes a dual-time reference mapping method for UAV speed-up simulation, including the following methods: S1 (Parameter Acquisition): Acquire the flight parameters of the UAV simulation, the speed factor of the speed-multiplying simulation control, and the fixed integral step size corresponding to the UAV dynamics model. Among them, the flight parameters of the UAV simulation include the UAV's flight path command, the UAV's remote adjustment command, and the UAV's action command (left turn, right turn, climb, and descent, etc.). Within one virtual time step of the UAV speed-multiplying simulation, the corresponding speed-multiplying simulation process is as follows: Input the UAV's flight path command, the UAV's remote adjustment command, and the UAV's action command into the UAV navigation and flight control model to calculate the UAV's control command, which includes the pitch angle, yaw angle, roll angle, and throttle command of the three control surfaces; Input the UAV's control command into the UAV dynamics model to calculate the UAV's velocity information (angular velocity and velocity of the three axes) and position information, thereby completing the UAV speed-multiplying simulation within one virtual time step.

[0021] S2 (Establish a time reference system): Starting from the simulation start time, establish a physical time reference system and a virtual time reference system; The physical time reference system includes starting absolute time. Expected execution time The local frame counter, at the simulation start time, is assigned the following values ​​by the physical time reference system: In the formula, This is the current physical time, which is obtained by calling a high-precision monotonic clock, and the unit is seconds. To start absolute time, in seconds; The expected execution time is in seconds; N is the data for the local frame counter, in times. The virtual time reference system includes a virtual timeline. Virtual time start value The total frame counter continuously and monotonically increments during simulation execution and never resets. At simulation startup, the virtual time base system is assigned the following value: In the formula, This is a virtual timeline, in seconds. is the virtual time starting value, which is the virtual time starting reference generated by the virtual timestamp, in seconds; F is the data of the total frame counter, in times; throughout the entire UAV speed-up simulation process, the virtual time axis continuously records virtual timestamps, and the frame counter also counts continuously within the virtual period.

[0022] At the simulation start time (seconds) .

[0023] S3 (Determine the trigger time node): Dynamically calculate the expected frame interval in the physical time domain based on the physical time reference system, the rate multiplication factor, and the virtual time step, and determine the next physical trigger time node based on the expected frame interval in the physical time domain. The physical trigger time node refers to the expected execution time of the Nth frame. The method for determining it is as follows: In the formula, The expected execution time of the Nth frame, i.e., the physical trigger time, is expressed in seconds. As a speed factor, Dimensionless; N represents the expected frame interval in the physical time domain, in seconds per frame; N is the data of the local frame counter, in frames. To start absolute time, in seconds; This is the virtual time step, in seconds per step.

[0024] S4 (Speed-Up Simulation): Using a virtual time reference system as the base, physical trigger time nodes as response nodes, and UAV flight parameters as input, it takes the fixed integral step size corresponding to the UAV dynamics model as the virtual time step size, executes the solution of the UAV control model, advances the simulation virtual time, and performs speed-up simulation of the UAV; during the speed-up simulation of the UAV, a continuous virtual timestamp is generated after each frame is executed. Among them, virtual timestamp for: In the formula, This is the starting value for virtual time, in seconds. This is the data for the total frame counter, in units of times. The virtual time step is a fixed constant with units of seconds per time step. This timestamp is strictly monotonically increasing under any speed factor k and does not jump due to speed factor adjustment or lag recovery, ensuring that the simulation data is uniformly distributed and continuously differentiable on the time axis.

[0025] S5 (Alignment Mapping): During the accelerated simulation of the UAV, physical trigger time nodes are monitored in real time, and physical time and virtual time are aligned and mapped.

[0026] This invention separates virtual time from physical time, achieving absolute continuity between the instantaneous response of the speed factor adjustment and the virtual time axis while maintaining a fixed integral step size corresponding to the UAV dynamics model. Simultaneously, it ensures that the fixed integral step size corresponding to the UAV dynamics model remains constant throughout the entire UAV speed-multiplication simulation, preventing interference with high-frequency dynamic characteristics such as rotor flapping and aerodynamic response of the rotary-wing UAV during the speed-multiplication simulation. This invention calculates the expected execution time based on the starting time under the current speed factor, ensuring a strict instantaneous linear proportional relationship between virtual time and physical time within each period of constant speed factor. The proportionality coefficient is the current speed factor k. This mechanism fundamentally eliminates the time drift problem caused by fixed-interval accumulation in traditional methods.

[0027] The dual-time reference mapping method in the UAV speed-up simulation of the present invention further includes: after completing one UAV control model solution, updating the data F of the total frame counter and the data N of the local frame counter, recalculating the virtual timestamp based on the updated data F of the total frame counter, and recalculating the next physical trigger time node based on the updated data N of the local frame counter.

[0028] Specifically, S5 includes: during the accelerated simulation of the UAV, real-time monitoring of whether the accelerated simulation process of the UAV has reached a new trigger time node based on the physical trigger time node; If the new trigger time node is not reached, the drone will enter hibernation mode and remain dormant until the next trigger time node before triggering the drone control model to solve the problem. If a new trigger time node is reached, the UAV control model will be immediately triggered to solve the problem, and S3-S5 will be executed to align and map the physical time and virtual time.

[0029] Preferably, S5 also includes speed factor switching, specifically, real-time monitoring of the speed factor during the drone's speed simulation process. Has anything changed? If the speed factor If no changes occur, continue with the accelerated simulation of the drone; If the speed factor changes, the physical time reference system is initialized, and the current physical time is assigned to the startup absolute time. and expected execution time Then, the local frame counter is cleared to zero. At the same time, the virtual time reference system and the total frame counter remain unchanged. Then, S3-S5 are executed to align and map the physical time and virtual time.

[0030] Furthermore, S5 also includes hysteresis detection and self-recovery, specifically by setting a progress deviation threshold. Schedule deviation threshold The standard value is 100 milliseconds, but users can adjust the progress deviation threshold according to their accuracy requirements. The specific values ​​can be set; During the accelerated simulation of the drone, the current simulation time and the expected execution time are calculated in real time. The deviation between the schedule and the timeline is determined, and it is determined whether the deviation is greater than the schedule deviation threshold. ; If not, continue with the accelerated simulation of the drone; If so, initialize the physical time reference system and assign the current physical time to the startup absolute time. and expected execution time Then, the local frame counter is cleared to zero. At the same time, the virtual time reference system and the total frame counter remain unchanged. Then, S3-S5 are executed to align and map the physical time and virtual time.

[0031] This invention enables the rapid response of the accelerated simulation process of UAVs. When a new trigger time node is reached, the acceleration factor changes, or the deviation between the current simulation time and the expected execution time exceeds the progress deviation threshold, the physical time and virtual time are aligned and mapped by initializing the physical time reference system. This results in a faster response time of the accelerated simulation process, which does not exceed one frame cycle, thereby improving the system's reaction speed and ensuring the stability and reliability of the simulation system during long-term operation.

[0032] The update rules for virtual time frames and physical time frames in this invention are as follows: Under this update mechanism, the virtual timestamp sequence is strictly monotonically increasing and will not jump due to speed factor adjustment or lag recovery, ensuring continuous differentiability on the time axis, forming a strictly consistent time reference system, and the virtual time axis is uniformly distributed under any speed factor.

[0033] See Figure 3 The following example illustrates the dual-time reference mapping method in UAV speed simulation of this invention: an instantaneous switch from 1x speed (speed factor K=1) to 4x speed (speed factor K=4), with a fixed integration step size of 1 millisecond corresponding to the UAV dynamics model. For 1x speed operation, after the UAV speed simulation system is started, a physical time reference system and a virtual time reference system are established and initialized. In the virtual time reference system... , and in accordance with Increments at a uniform rate, without resetting; in the physical time reference system , According to the frame interval of physical time The simulation was triggered, and the UAV speed simulation system ran stably at 1x speed.

[0034] During the speed-multiplication simulation of a drone, when the speed multiplication factor is detected... When a 4x speed change occurs, the speed factor needs to be adjusted. Switching from 1x speed to 4x speed initializes the physical time reference system, i.e., resets the physical time base and the absolute start time of physical time. , Frame interval in physical time Updated to 0.125 milliseconds, with a switching latency of <1 millisecond, meaning the switching time does not exceed one frame; the virtual time base system remains unchanged, and the number of frames within the virtual period... Continue to increase, virtual timeline Continuing to increment by 1 millisecond ensures that the timestamp will not jump or delay.

[0035] After the switch was completed, the system ran stably at 4 times the speed, triggering a simulation calculation every 0.125ms. The virtual time advanced by 1ms, and the UAV control model always maintained a fixed integral step size of 1ms. The simulation state was stable, with no sudden changes or oscillations.

[0036] See Figure 2 The present invention also proposes a dual time reference mapping system for UAV speed-up simulation, which is used to implement the above-mentioned dual time reference mapping method for UAV speed-up simulation, including a parameter acquisition module, a time reference system establishment module, a speed-up simulation module, a trigger time node determination module, and an alignment mapping module; Parameter acquisition module: used to acquire flight parameters of UAV simulation, real-time adjustable speed factor, and fixed integration step size corresponding to UAV dynamics model; Time reference system establishment module: used to establish and maintain the physical time reference system and the virtual time reference system starting from the simulation start time; Trigger Time Node Determination Module: This module dynamically calculates the expected frame interval in the physical time domain based on the physical time reference system, the speed factor, and the virtual time step, and determines the next physical trigger time node based on the expected frame interval in the physical time domain. Specifically, it determines the physical trigger time node based on the physical time reference system, the speed factor k, and the fixed integration step, calculates the expected frame interval in the physical time domain and the physical trigger time node of the next frame, and determines whether to send a trigger execution signal to the speed simulation module by continuously monitoring the current physical time. The speed-up simulation module is used to perform speed-up simulations of the UAV by taking a virtual time reference system as the reference, physical trigger time nodes as response nodes, and UAV flight parameters as input. It uses the fixed integral step size corresponding to the UAV dynamics model as the virtual time step size, executes the solution of the UAV control model, and advances the virtual simulation time. Specifically, it uses a virtual time reference system as the reference, responds to physical trigger time nodes as physical trigger signals, and uses the fixed integral step size as the expected frame interval for calculating the physical time domain. It atomically executes the solution of the UAV navigation and flight control model and the UAV dynamics model once, thereby advancing the virtual time state by one step. And the alignment mapping module: used to perform real-time monitoring of physical trigger time nodes during the accelerated simulation of UAVs, and to align and map physical time and virtual time; specifically, it is used to maintain the synchronization between physical time and virtual time during the accelerated simulation of UAVs. After each frame calculation is completed by the accelerated simulation module, the alignment mapping module drives the total frame counter and the local frame counter to increment respectively, while monitoring the changes in the acceleration factor and the simulation progress deviation in real time, resetting the physical time reference system in a timely manner and keeping the virtual time reference system unchanged.

[0037] It should be noted that the dual time reference mapping system in the UAV speed-up simulation of this invention is completely corresponding to the dual time reference mapping method in the above-mentioned UAV speed-up simulation. For the relevant contents of the parameter acquisition module, time reference system establishment module, speed-up simulation module, trigger time node determination module and alignment mapping module that are not described in detail in the dual time reference mapping system in the UAV speed-up simulation, please refer to the description of the dual time reference mapping method in the above-mentioned UAV speed-up simulation. The dual time reference mapping system in the UAV speed-up simulation of this invention will not be described in detail.

[0038] The above description is only used to illustrate the technical solutions of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing, those skilled in the art should understand that modifications can still be made to the technical solutions described above, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A dual-time reference mapping method for UAV speed-up simulation, characterized in that, Including the following methods: Parameter acquisition: Acquire the flight parameters of the UAV simulation, the real-time adjustable speed factor, and the fixed integration step size corresponding to the UAV dynamics model; Establish a time reference system: Starting from the simulation start time, establish and maintain a physical time reference system and a virtual time reference system; Determine the trigger time node: Dynamically calculate the expected frame interval in the physical time domain based on the physical time reference system, the speed factor, and the virtual time step, and determine the next physical trigger time node based on the expected frame interval in the physical time domain. Accelerated Simulation: Using a virtual time reference system as the reference, physical trigger time nodes as response nodes, and flight parameters of UAV simulation as input, the fixed integral step size corresponding to the UAV dynamics model is used as the virtual time step size. The UAV control model is then solved, and the virtual simulation time is advanced to perform accelerated simulation of the UAV. Alignment mapping: In the process of speeding up the simulation of the UAV, physical trigger time nodes are used for real-time monitoring, and physical time and virtual time are aligned and mapped.

2. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 1, characterized in that, The physical time reference system includes starting absolute time. Expected execution time and local frame counter; The virtual time reference system includes a virtual time axis. Virtual time start value And total frame counter.

3. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 2, characterized in that, The dual-time reference mapping method in the UAV speed-up simulation further includes: after completing one UAV control model solution, updating the data F of the total frame counter and the data N of the local frame counter, recalculating the virtual timestamp based on the updated data F of the total frame counter, and recalculating the next physical trigger time node based on the updated data N of the local frame counter.

4. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 2, characterized in that, The expected execution time It is based on the absolute startup time The data N of the local frame counter and the expected frame interval in the physical time domain. Certain; The expected frame interval in the physical time domain It is determined based on the speed factor and the virtual time step.

5. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 2, characterized in that, The method of using physical trigger time nodes for real-time monitoring during the accelerated simulation of the UAV, and aligning and mapping physical time and virtual time, includes: During the accelerated simulation of the UAV, the simulation process is monitored in real time based on the physical trigger time node to determine whether the accelerated simulation process has reached a new trigger time node. If the new trigger time node is not reached, the drone will enter hibernation mode and remain dormant until the next trigger time node before triggering the drone control model to solve the problem. If a new trigger time node is reached, the UAV control model is immediately triggered to solve the problem, and the step of determining the trigger time node and aligning the mapping is performed to align the physical time and virtual time.

6. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 5, characterized in that, The method of using physical trigger time nodes for real-time monitoring during the accelerated simulation of the UAV, and aligning and mapping physical time and virtual time, also includes: During the speed-multiplication simulation of the drone, the speed multiplication factor is monitored in real time to see if it changes. If the speed factor does not change, continue the speed simulation of the UAV. If the speed factor changes, the physical time reference system is initialized, and the current physical time is assigned to the startup absolute time. and expected execution time The local frame counter is cleared, while the virtual time reference system and the total frame counter remain unchanged. The step of determining the trigger time node and aligning the mapping is then performed to align the physical time and the virtual time.

7. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 5 or 6, characterized in that, The method of using physical trigger time nodes for real-time monitoring during the accelerated simulation of the UAV, and aligning and mapping physical time and virtual time, also includes: Set schedule deviation threshold ; During the accelerated simulation of the drone, the current simulation time and the expected execution time are calculated in real time. The deviation between the two is determined, and it is determined whether the deviation is greater than the schedule deviation threshold. ; If not, continue with the accelerated simulation of the drone; If so, initialize the physical time reference system and assign the current physical time to the startup absolute time. and expected execution time The local frame counter is cleared, while the virtual time reference system and the total frame counter remain unchanged. The step of determining the trigger time node and aligning the mapping is then performed to align the physical time and the virtual time.

8. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 1, characterized in that, The flight parameters of the simulated UAV include the UAV's flight path commands, the UAV's remote adjustment commands, and the UAV's action commands.

9. The dual-time reference mapping method in UAV speed-multiplication simulation according to claim 8, characterized in that, The UAV control model includes a UAV navigation and flight control model and a UAV dynamics model; Within a virtual time step, the UAV's flight path command, remote adjustment command, and motion command are input into the UAV navigation and flight control model to calculate the UAV's control commands. The control commands of the UAV are input into the UAV dynamics model to calculate the speed and position information of the UAV, thereby completing the UAV speed simulation within a virtual time step.

10. A dual-time reference mapping system for UAV speed-multiplication simulation formed using the dual-time reference mapping method described in claim 1, characterized in that, include: Parameter acquisition module: used to acquire flight parameters of UAV simulation, real-time adjustable speed factor, and fixed integration step size corresponding to UAV dynamics model; Time reference system establishment module: used to establish and maintain the physical time reference system and the virtual time reference system starting from the simulation start time; Trigger Time Node Determination Module: Used to dynamically calculate the expected frame interval in the physical time domain based on the physical time reference system, speed factor and virtual time step, and determine the next physical trigger time node based on the expected frame interval in the physical time domain. Speed-up Simulation Module: This module uses a virtual time reference system as the reference, physical trigger time nodes as response nodes, and UAV flight parameters as input. It takes the fixed integral step size corresponding to the UAV dynamics model as the virtual time step size, performs the solution of the UAV control model, advances the simulation virtual time, and performs speed-up simulation of the UAV. And the alignment mapping module: used to perform real-time monitoring of physical trigger time nodes during the accelerated simulation of UAVs, and to align and map physical time and virtual time.

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