A method, device, equipment and medium for simulating flight control of a UAV

Abstract

The application discloses a UAV simulation flight control method and device, equipment and medium, and relates to the technical field of UAVs, which comprises the following steps: establishing a target air combat environment model, and obtaining corresponding air combat situation information according to the target air combat environment model; the target air combat environment model comprises different air combat scenes; constructing a target air combat decision model, and generating an air combat decision instruction by using the target air combat decision model and the air combat situation information; constructing a six-degree-of-freedom dynamics model, applying the air combat decision instruction to the six-degree-of-freedom dynamics model, and performing simulation flight control on a target UAV by using the air combat decision instruction and the six-degree-of-freedom dynamics model in the target air combat environment model. By constructing the target air combat environment model comprising different air combat scenes and obtaining corresponding air combat situation information, comprehensive description of the air combat environment is realized, and the problem that it is difficult to select a suitable algorithm to optimize flight control according to different task requirements and scenes is solved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, apparatus, equipment, and medium for simulating flight control of UAVs. Background Technology

[0002] With the continuous advancement of aviation technology, aircraft face increasingly complex flight environments, encompassing different airspaces at high and low altitudes as well as adverse weather conditions. Furthermore, their missions are becoming increasingly diverse, ranging from routine transportation to complex reconnaissance and air combat. Traditional rule-based flight control methods are struggling to respond accurately and in real time.

[0003] Current UAV air combat control methods utilize simple PID control laws. However, this approach has the problem of not being able to select appropriate algorithms to optimize flight control based on different mission requirements and scenarios. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, apparatus, device, and medium for simulating flight control of unmanned aerial vehicles (UAVs). This method enables the construction of a target air combat environment model encompassing different air combat scenarios and the acquisition of corresponding air combat situation information, thereby achieving a comprehensive description of the air combat environment and solving the problem of selecting appropriate algorithms to optimize flight control based on different mission requirements and scenarios. The specific solution is as follows:

[0005] Firstly, this application provides a method for simulating flight control of an unmanned aerial vehicle (UAV), including:

[0006] A target air combat environment model is established based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target. The corresponding air combat situation information is obtained based on the target air combat environment model. The target air combat environment model includes different air combat scenarios.

[0007] Construct a target air combat decision model, and use the target air combat decision model and the air combat situation information to generate air combat decision commands corresponding to the target UAV;

[0008] A six-degree-of-freedom dynamic model corresponding to the target UAV is constructed, the air combat decision command is applied to the six-degree-of-freedom dynamic model, and the air combat decision command and the six-degree-of-freedom dynamic model are used to simulate flight control of the target UAV in the target air combat environment model.

[0009] Optionally, the step of establishing a target air combat environment model corresponding to the target UAV based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target includes:

[0010] Acquire meteorological information; wherein, the meteorological information includes the target's geographical location and target weather conditions corresponding to the air combat scenario;

[0011] A missile hit determination model is constructed using the first parameter information and the second parameter information; wherein, the first parameter information includes the missile type, missile flight speed, and guidance method of the target UAV; and the second parameter information includes the mobility and defensive capabilities of the target.

[0012] An air combat termination determination model is constructed, and the target air combat environment model is constructed using the meteorological information, the missile hit determination model, and the air combat termination determination model; wherein, the air combat termination determination model includes different air combat termination factors.

[0013] Optionally, the air combat situation information includes the relative distance, departure angle, deviation angle, relative altitude, and relative speed between the target UAV and the target being attacked.

[0014] Optionally, the construction of the target air combat decision model includes:

[0015] A target reward function is constructed based on the relative advantage information between the target UAV and the target being attacked, and the target air combat decision model is constructed using the target reward function; wherein, the relative advantage information includes the distance advantage, angle advantage, speed advantage and altitude advantage of the target UAV relative to the target being attacked.

[0016] Optionally, generating air combat decision commands corresponding to the target UAV using the target air combat decision model and the air combat situation information includes:

[0017] In a multi-aircraft cooperative air combat scenario, the attack targets corresponding to each of the target UAVs are determined based on the target air combat decision model and the air combat situation information, so as to obtain the corresponding target allocation results.

[0018] An emergency control mechanism for unmanned aerial vehicles (UAVs) is established, and air combat decision commands corresponding to each of the target UAVs are generated based on the target allocation results and the emergency control mechanism.

[0019] Optionally, constructing the six-degree-of-freedom dynamic model corresponding to the target UAV includes:

[0020] The dynamic equations of the UAV are constructed based on the force conditions of the target UAV, and the target flight control law is constructed based on the actual flight state of the target UAV.

[0021] A damage model is constructed based on the structure of the target UAV; wherein, the damage model is a model describing the changes in the flight performance of the UAV after being attacked;

[0022] The six-degree-of-freedom dynamic model corresponding to the target UAV is constructed using the UAV dynamic equations, the target flight control law, and the damage model.

[0023] Optionally, after simulating flight control of the target UAV using the air combat decision command and the six-degree-of-freedom dynamics model in the target air combat environment model, the method further includes:

[0024] The flight parameters and UAV system parameters generated by the target UAV during the simulated flight control process are obtained, and the flight parameters and UAV system parameters are visualized to obtain corresponding visualization data.

[0025] The visualized data is presented in chronological order and using a preset visualization interface to optimize and analyze the performance of the target drone.

[0026] Secondly, this application provides a drone flight simulation control device, comprising:

[0027] The situation information acquisition module is used to establish a target air combat environment model corresponding to the target UAV based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target, and to acquire corresponding air combat situation information based on the target air combat environment model; the target air combat environment model includes different air combat scenarios;

[0028] The decision command generation module is used to construct a target air combat decision model and generate air combat decision commands corresponding to the target UAV using the target air combat decision model and the air combat situation information.

[0029] The flight control module is used to construct a six-degree-of-freedom dynamic model corresponding to the target UAV, apply the air combat decision commands to the six-degree-of-freedom dynamic model, and perform simulated flight control of the target UAV in the target air combat environment model using the air combat decision commands and the six-degree-of-freedom dynamic model.

[0030] Thirdly, this application provides an electronic device, comprising:

[0031] Memory, used to store computer programs;

[0032] A processor is used to execute the computer program to implement the aforementioned unmanned aerial vehicle (UAV) simulated flight control method.

[0033] Fourthly, this application provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the aforementioned unmanned aerial vehicle (UAV) simulated flight control method.

[0034] This application first establishes a target air combat environment model corresponding to the target UAV based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target, and obtains the corresponding air combat situation information based on the target air combat environment model. The target air combat environment model includes different air combat scenarios. Then, a target air combat decision model is constructed, and air combat decision commands corresponding to the target UAV are generated using the target air combat decision model and the air combat situation information. Finally, a six-degree-of-freedom dynamic model corresponding to the target UAV is constructed, and the air combat decision commands are applied to the six-degree-of-freedom dynamic model. The target UAV is then simulated for flight control using the air combat decision commands and the six-degree-of-freedom dynamic model within the target air combat environment model. Therefore, this application achieves a comprehensive digital description of complex air combat environments by constructing target air combat environment models containing different air combat scenarios and obtaining corresponding air combat situation information, thus solving the problem that traditional methods are unable to accurately assess changing air combat situations. By constructing a target air combat decision model and generating corresponding air combat decision commands based on situation information, it realizes intelligent autonomous decision-making for UAVs in complex confrontations, overcoming the shortcomings of poor adaptability of fixed rule strategies. By constructing a six-degree-of-freedom dynamic model and applying decision commands to the model for simulated flight control, it achieves accurate simulation of the high-maneuverability flight process of UAVs, solving the problems of insufficient flight control accuracy and difficulty in truly reflecting dynamic characteristics. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of a drone flight simulation control method disclosed in this application;

[0037] Figure 2 This application discloses a flowchart of a UAV air combat decision-making process.

[0038] Figure 3 This application discloses a flowchart of a research process for unmanned aerial vehicle (UAV) flight control.

[0039] Figure 4 This is a schematic diagram of a drone guidance system disclosed in this application;

[0040] Figure 5 This is a schematic diagram of the relative situation of an unmanned aerial vehicle (UAV) disclosed in this application;

[0041] Figure 6This is a schematic diagram of an air combat decision-making model disclosed in this application;

[0042] Figure 7 This is a schematic diagram of the structure of a drone flight simulation control device disclosed in this application;

[0043] Figure 8 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] See Figure 1 As shown, this embodiment of the invention discloses a method for simulating flight control of an unmanned aerial vehicle (UAV), comprising:

[0046] Step S11: Establish a target air combat environment model corresponding to the target UAV based on meteorological information, the first parameter information of the target UAV and the second parameter information corresponding to the strike target, and obtain the corresponding air combat situation information based on the target air combat environment model; the target air combat environment model includes different air combat scenarios.

[0047] The air combat decision-making process in this embodiment is as follows: Figure 2 As shown, the process begins with the selection of the air combat environment and the setting of air combat termination conditions. These two factors together determine the air combat environment (i.e., the target air combat environment model). Within this environment, the system monitors the air combat situation through visualization and data playback functions. Subsequently, the decision-making module loads and generates UAV control commands (i.e., air combat decision commands), which are applied to the F-16 six-degree-of-freedom model. During air combat, emergency control mechanisms and UAV damage assessment mechanisms work together to ensure the safety and effectiveness of the UAV in air combat. The entire process embodies a complete UAV air combat decision-making system, from environmental setup to situational awareness, decision control, and safety assurance.

[0048] It should be noted that this embodiment mainly includes four research contents, such as Figure 3As shown, research content one focuses on six-degree-of-freedom dynamics modeling of fighter jets, involving fighter jet dynamics models, control law design, and damage modeling, aiming to provide a basic dynamic model for subsequent research. Research content two is UAV air combat decision modeling, including air combat advantage design, reward function setting, target allocation in 2v2 scenarios, and emergency control. These contents help to construct the decision-making mechanism of UAVs in air combat. Research content three is air combat environment modeling, covering air combat scenario selection, missile hit determination model, and air combat termination determination model, used to simulate and evaluate air combat environments. Research content four is data recording and playback, including a data playback module, a data recording module, and a visualization interface output, providing support for data processing and analysis during the research process.

[0049] In this embodiment, a target air combat environment model corresponding to the target UAV is established based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target. This includes: acquiring meteorological information, where the meteorological information includes the target's geographical location and weather conditions corresponding to the air combat scenario; constructing a missile hit determination model using the first parameter information and the second parameter information, where the first parameter information includes the missile type, missile flight speed, and guidance method of the target UAV; and the second parameter information includes the strike target's maneuverability and defensive capabilities; constructing an air combat termination determination model, and using the meteorological information, the missile hit determination model, and the air combat termination determination model to construct a target air combat environment model; where the air combat termination determination model includes different air combat termination factors.

[0050] Specifically, air combat environment modeling involves providing a comprehensive and detailed digital description of the air combat scenario. It includes several important aspects:

[0051] The first step is selecting the air combat scenario, which involves determining basic scenario information such as the geographical location and weather conditions of the air combat. For example, is the air combat taking place in mountainous areas, at sea, or over plains, and what is the weather at the time—sunny, cloudy, or with wind, rain, thunder, and lightning?

[0052] Secondly, there is the missile hit determination model. This model needs to consider many factors, such as the missile type, flight speed, guidance method, as well as the target's maneuverability and defensive measures, in order to accurately determine whether the missile can hit the target. For example... Figure 4 As shown: where For the maximum off-axis launch angle, DMmin and DMmax represent the maximum launch cone angle within the no-escape zone, while DMkmin and DMkmax represent the minimum and maximum no-escape distances, respectively. The no-escape zone is the area where a missile will hit upon firing, and the missile attack zone is the area where the closer one is to the no-escape zone, the greater the reward value.

[0053] The air combat termination determination model is also a key component. It comprehensively considers various situations that may lead to the end of air combat, including the complete destruction of one side's aircraft, fuel exhaustion, and exceeding the combat airspace. By analyzing and modeling these factors, it determines when air combat will end.

[0054] Air combat environment modeling can provide a realistic virtual environment for studying air combat strategies, evaluating aircraft performance, and training pilots, helping to improve the level of air combat-related research and training.

[0055] In addition, the air combat situation information in this implementation includes the relative distance, departure angle, deviation angle, relative altitude, and relative speed between the target UAV and the target being attacked.

[0056] Specifically, the definition of relative air combat situation is as follows: Figure 5 As shown, where The relative distance is and the departure angle is . The deviation angle is The relative height is The relative speed is .

[0057] Step S12: Construct a target air combat decision model, and use the target air combat decision model and the air combat situation information to generate air combat decision commands corresponding to the target UAV.

[0058] In this embodiment, the process of constructing the target air combat decision model includes: constructing a target reward function based on the relative advantage information between the target UAV and the target, and using the target reward function to construct the target air combat decision model; wherein, the relative advantage information includes the target UAV's distance advantage, angle advantage, speed advantage, and altitude advantage relative to the target.

[0059] Specifically, UAV air combat decision modeling is a complex systems engineering project aimed at developing reasonable and effective decision-making strategies for UAVs in air combat scenarios.

[0060] The first step in the modeling process is to consider air combat superiority design, which includes the analysis and utilization of the UAV's own performance advantages. Core factors include:

[0061] 1) Distance advantage: Allows the enemy to enter the missile's optimal strike range;

[0062] 2) Angle advantage: Allows the enemy to enter the optimal missile launch angle and makes it difficult for them to attack our side;

[0063] 3) Speed ​​advantage: This gives our missiles a better initial speed when launched, and our fighter jets have better maneuverability;

[0064] 4) Altitude advantage: This gives our missiles and aircraft a better energy advantage, so that potential energy can be converted into kinetic energy, improving the maneuverability of aircraft and missiles.

[0065] Setting the reward function is a crucial step. By defining reward values ​​corresponding to different behaviors and results, the drone is guided to learn behavioral patterns that are beneficial to winning air combat. For example, positive rewards are given for successfully locking onto enemy targets and dodging enemy attacks, while negative rewards are given for being hit or losing targets.

[0066] The air combat reward function includes angle reward, speed reward, altitude reward, and distance reward. These are:

[0067] Angle reward function:

[0068] ;

[0069] Speed ​​reward function:

[0070] ;

[0071] ;

[0072] ;

[0073] High reward function:

[0074] ;

[0075] ;

[0076] ;

[0077] Distance reward function:

[0078] ;

[0079] In addition, in this embodiment, the air combat decision-making instructions corresponding to the target UAV are generated using the target air combat decision-making model and the air combat situation information, including: in a multi-aircraft cooperative air combat scenario, determining the attack targets corresponding to each target UAV according to the target air combat decision-making model and the air combat situation information to obtain the corresponding target allocation results; establishing an UAV emergency control mechanism, and generating air combat decision-making instructions corresponding to each target UAV according to the target allocation results and the UAV emergency control mechanism.

[0080] Target allocation in 2v2 scenarios is designed for multi-drone air combat. Based on the situation of both sides, it rationally assigns attack targets to the two friendly drones, considering factors such as the threat level and location of the enemy drones and the effective weapon range of the friendly drones. Emergency control is designed to respond to unforeseen circumstances, such as a sudden enemy attack or a malfunction, enabling rapid responses and measures such as emergency evasion and the deployment of flares to ensure the drones' survivability in air combat.

[0081] Through comprehensive modeling of these aspects, the UAV air combat decision model enables UAVs to make intelligent and rational decisions in air combat, thereby improving the air combat success rate.

[0082] Step S13: Construct a six-degree-of-freedom dynamic model corresponding to the target UAV, apply the air combat decision command to the six-degree-of-freedom dynamic model, and use the air combat decision command and the six-degree-of-freedom dynamic model to simulate flight control of the target UAV in the target air combat environment model.

[0083] In this embodiment, the construction of a six-degree-of-freedom dynamic model corresponding to the target UAV includes: constructing the UAV dynamic equations based on the forces acting on the target UAV, and constructing the target flight control law based on the actual flight state of the target UAV; constructing a damage model based on the UAV structure of the target UAV; wherein, the damage model is a model describing the changes in the flight performance of the UAV after being attacked; and constructing the six-degree-of-freedom dynamic model corresponding to the target UAV using the UAV dynamic equations, the target flight control law, and the damage model.

[0084] Specifically, six-degree-of-freedom (6DOF) dynamics modeling of fighter jets provides a precise mathematical description of the complex motions of fighter jets in the air. Based on the six-degree-of-freedom theory, the three translational degrees of freedom correspond to the fighter jet's linear motion along the longitudinal (X-axis), lateral (Y-axis), and vertical (Z-axis) directions, allowing the fighter jet to move freely in three-dimensional space. The other three rotational degrees of freedom are roll about the X-axis, pitch about the Y-axis, and yaw about the Z-axis; these rotational movements determine the fighter jet's attitude.

[0085] In the modeling process, the first step is to establish dynamic equations, taking into account various forces and moments acting on the fighter jet based on Newton's second law and Euler's equations, including gravity, engine thrust, and aerodynamic forces (such as lift, drag, and side force). For the aerodynamic model, it is necessary to determine the parameter relationships between lift coefficient, drag coefficient, side force coefficient, and other parameters related to flight conditions (such as speed, angle of attack, and sideslip angle).

[0086] Simultaneously, to achieve effective control of the fighter jet, control law design is required. Based on the desired flight state and the current actual state, the deflection of control surfaces such as ailerons, elevators, and rudder is calculated. The PID control algorithm is selected as the control law.

[0087] Damage modeling is established to simulate changes in the flight performance of fighter jets after being attacked, such as the impact of structural damage on aerodynamic characteristics. Through this modeling work, it is possible to accurately simulate and predict the trajectory and attitude changes of fighter jets under various flight scenarios.

[0088] Damage Modeling , Where T is the total thrust. As a secondary wing, For elevator cabins, For steering. System operation flow. Figure 6 As shown.

[0089] in For decision-making quantity, For state variables, it is represented as:

[0090] ;

[0091] ;

[0092] in For drone speed, For fighter jet positions, These represent roll, pitch, and yaw angles, respectively.

[0093] Furthermore, in this embodiment, after simulating flight control of the target UAV using air combat decision commands and a six-degree-of-freedom dynamics model in the target air combat environment model, the method further includes: acquiring flight parameters and UAV system parameters generated by the target UAV during the simulated flight control process, and visualizing the flight parameters and UAV system parameters to obtain corresponding visualization data; displaying the visualization data according to the time sequence and a preset visualization interface to optimize and analyze the performance of the target UAV.

[0094] Data logging and playback is a crucial method for capturing, storing, and reproducing critical information in air combat research and related fields. During air combat, data logging is responsible for comprehensively collecting various types of air combat-related data, covering flight parameters of fighter jets or drones, such as speed, altitude, and attitude angles, as well as weapon system status, sensor information, and communication data. This data not only reflects the real-time status of air combat but also forms the basis for subsequent analysis and research.

[0095] Data replay, when needed, involves reproducing recorded data in its original chronological order and logical structure. Through data replay, researchers can analyze air combat processes, observe aircraft trajectories and tactical execution from different perspectives, analyze the timing and effectiveness of weapon use, and assess the impact of various factors on the outcome of air combat. This helps to gain a deeper understanding of the problems and advantages in air combat, providing strong data support and reference for optimizing tactical strategies, improving aircraft performance, and refining weapon systems.

[0096] This embodiment features object-oriented, modular six-degree-of-freedom dynamics modeling capabilities for modern combat UAVs, covering aspects such as fighter dynamics models, control law design (using PID control algorithms), and damage modeling. It also enables simultaneous modeling of multiple UAVs, providing a precise foundational model for subsequent research, and considering various forces, torques, and flight state parameter relationships. Furthermore, it provides air combat game modeling capabilities for various UAV combat scenarios (1V1, 2V1, 2V2 medium-range and close-range air-to-air combat, and air-to-ground / sea strikes). Users can customize enemy and friendly situation assessment functions and air combat termination boundary conditions, comprehensively considering advantages such as distance, angle, speed, and altitude to design air combat decision-making models, and setting detailed reward functions to guide UAVs in learning optimal decisions.

[0097] Therefore, this application achieves a comprehensive digital description of complex air combat environments by constructing target air combat environment models containing different air combat scenarios and obtaining corresponding air combat situation information, thus solving the problem that traditional methods are unable to accurately assess changing air combat situations. By constructing a target air combat decision model and generating corresponding air combat decision commands based on situation information, it realizes intelligent autonomous decision-making for UAVs in complex confrontations, overcoming the shortcomings of poor adaptability of fixed rule strategies. By constructing a six-degree-of-freedom dynamic model and applying decision commands to the model for simulated flight control, it achieves accurate simulation of the high-maneuverability flight process of UAVs, solving the problems of insufficient flight control accuracy and difficulty in truly reflecting dynamic characteristics.

[0098] See Figure 7 As shown, an embodiment of the present invention discloses a drone flight simulation control device, comprising:

[0099] The situation information acquisition module 11 is used to establish a target air combat environment model corresponding to the target UAV based on meteorological information, the first parameter information of the target UAV and the second parameter information corresponding to the strike target, and to acquire corresponding air combat situation information based on the target air combat environment model; the target air combat environment model includes different air combat scenarios;

[0100] The decision command generation module 12 is used to construct a target air combat decision model and generate air combat decision commands corresponding to the target UAV using the target air combat decision model and the air combat situation information.

[0101] The flight control module 13 is used to construct a six-degree-of-freedom dynamic model corresponding to the target UAV, apply the air combat decision command to the six-degree-of-freedom dynamic model, and perform simulated flight control of the target UAV in the target air combat environment model using the air combat decision command and the six-degree-of-freedom dynamic model.

[0102] In some specific embodiments, the situation information acquisition module 11 may specifically include:

[0103] A meteorological information acquisition unit is used to acquire meteorological information; wherein, the meteorological information includes the target's geographical location and target weather conditions corresponding to the air combat scenario;

[0104] The determination model construction unit is used to construct a missile hit determination model using the first parameter information and the second parameter information; wherein, the first parameter information includes the missile type, missile flight speed and guidance method of the target UAV; and the second parameter information includes the maneuverability and defensive capabilities of the target.

[0105] An environmental model construction unit is used to construct an air combat termination determination model and to construct the target air combat environment model using the meteorological information, the missile hit determination model, and the air combat termination determination model; wherein, the air combat termination determination model includes different air combat termination factors.

[0106] In some specific embodiments, the decision instruction generation module 12 may specifically include:

[0107] The decision model construction unit is used to construct a target reward function based on the relative advantage information between the target UAV and the target, and to construct the target air combat decision model using the target reward function; wherein, the relative advantage information includes the distance advantage, angle advantage, speed advantage and altitude advantage of the target UAV relative to the target.

[0108] In some specific embodiments, the decision instruction generation module 12 may specifically include:

[0109] The attack target determination unit is used to determine the attack targets corresponding to each of the target UAVs in a multi-aircraft cooperative air combat scenario, based on the target air combat decision model and the air combat situation information, so as to obtain the corresponding target allocation results.

[0110] The decision command generation unit is used to establish an emergency control mechanism for unmanned aerial vehicles (UAVs) and generate air combat decision commands corresponding to each of the target UAVs based on the target allocation results and the emergency control mechanism.

[0111] In some specific embodiments, the flight control module 13 may specifically include:

[0112] The control law construction unit is used to construct the dynamic equations of the UAV based on the force conditions of the target UAV, and to construct the target flight control law based on the actual flight state of the target UAV.

[0113] The damage model construction unit is used to construct a damage model based on the structure of the target UAV; wherein the damage model is a model describing the changes in the flight performance of the UAV after being attacked;

[0114] The dynamic model construction unit is used to construct the six-degree-of-freedom dynamic model corresponding to the target UAV using the UAV dynamic equations, the target flight control law, and the damage model.

[0115] In some specific embodiments, the flight control module 13 further includes:

[0116] The parameter visualization unit is used to acquire the flight parameters and UAV system parameters generated by the target UAV during the simulated flight control process, and to perform visualization processing on the flight parameters and UAV system parameters to obtain corresponding visualization data;

[0117] The data display unit is used to display the visualized data according to the time sequence and a preset visualization interface, so as to optimize and analyze the performance of the target UAV.

[0118] Furthermore, embodiments of this application also disclose an electronic device, Figure 8 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0119] Figure 8 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the unmanned aerial vehicle (UAV) simulated flight control method disclosed in any of the foregoing embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0120] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0121] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0122] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the UAV simulated flight control method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include a computer program capable of performing other specific tasks.

[0123] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned unmanned aerial vehicle (UAV) simulated flight control method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0124] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0125] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0126] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0127] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 said element.

[0128] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for simulating flight control of an unmanned aerial vehicle (UAV), characterized in that, include: A target air combat environment model is established based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target. The corresponding air combat situation information is obtained based on the target air combat environment model. The target air combat environment model includes different air combat scenarios. Construct a target air combat decision model, and use the target air combat decision model and the air combat situation information to generate air combat decision commands corresponding to the target UAV; A six-degree-of-freedom dynamic model corresponding to the target UAV is constructed, the air combat decision command is applied to the six-degree-of-freedom dynamic model, and the air combat decision command and the six-degree-of-freedom dynamic model are used to simulate flight control of the target UAV in the target air combat environment model.

2. The UAV simulated flight control method according to claim 1, characterized in that, The step of establishing a target air combat environment model corresponding to the target UAV based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target includes: Acquire meteorological information; wherein, the meteorological information includes the target's geographical location and target weather conditions corresponding to the air combat scenario; A missile hit determination model is constructed using the first parameter information and the second parameter information; wherein, the first parameter information includes the missile type, missile flight speed and guidance method of the target UAV; and the second parameter information includes the maneuverability and defensive capabilities of the target. An air combat termination determination model is constructed, and the target air combat environment model is constructed using the meteorological information, the missile hit determination model, and the air combat termination determination model; wherein, the air combat termination determination model includes different air combat termination factors.

3. The UAV simulated flight control method according to claim 1, characterized in that, The air combat situation information includes the relative distance, departure angle, deviation angle, relative altitude, and relative speed between the target UAV and the target being attacked.

4. The UAV simulated flight control method according to claim 1, characterized in that, The construction of the target air combat decision model includes: A target reward function is constructed based on the relative advantage information between the target UAV and the target being attacked, and the target air combat decision model is constructed using the target reward function; wherein, the relative advantage information includes the distance advantage, angle advantage, speed advantage and altitude advantage of the target UAV relative to the target being attacked.

5. The UAV simulated flight control method according to claim 1, characterized in that, The step of generating air combat decision commands corresponding to the target UAV using the target air combat decision model and the air combat situation information includes: In a multi-aircraft cooperative air combat scenario, the attack targets corresponding to each of the target UAVs are determined based on the target air combat decision model and the air combat situation information, so as to obtain the corresponding target allocation results. An emergency control mechanism for unmanned aerial vehicles (UAVs) is established, and air combat decision commands corresponding to each of the target UAVs are generated based on the target allocation results and the emergency control mechanism.

6. The UAV simulated flight control method according to claim 1, characterized in that, The construction of the six-degree-of-freedom dynamic model corresponding to the target UAV includes: The dynamic equations of the UAV are constructed based on the force conditions of the target UAV, and the target flight control law is constructed based on the actual flight state of the target UAV. A damage model is constructed based on the structure of the target UAV; wherein, the damage model is a model describing the changes in the flight performance of the UAV after being attacked; The six-degree-of-freedom dynamic model corresponding to the target UAV is constructed using the UAV dynamic equations, the target flight control law, and the damage model.

7. The unmanned aerial vehicle (UAV) simulated flight control method according to any one of claims 1 to 6, characterized in that, After simulating flight control of the target UAV using the air combat decision commands and the six-degree-of-freedom dynamics model in the target air combat environment model, the method further includes: The flight parameters and UAV system parameters generated by the target UAV during the simulated flight control process are obtained, and the flight parameters and UAV system parameters are visualized to obtain corresponding visualization data. The visualized data is presented in chronological order and using a preset visualization interface to optimize and analyze the performance of the target drone.

8. A drone flight simulation control device, characterized in that, include: The situation information acquisition module is used to establish a target air combat environment model corresponding to the target UAV based on meteorological information, the first parameter information of the target UAV, and the second parameter information corresponding to the strike target, and to acquire corresponding air combat situation information based on the target air combat environment model; the target air combat environment model includes different air combat scenarios; The decision command generation module is used to construct a target air combat decision model and generate air combat decision commands corresponding to the target UAV using the target air combat decision model and the air combat situation information. The flight control module is used to construct a six-degree-of-freedom dynamic model corresponding to the target UAV, apply the air combat decision commands to the six-degree-of-freedom dynamic model, and perform simulated flight control of the target UAV in the target air combat environment model using the air combat decision commands and the six-degree-of-freedom dynamic model.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the unmanned aerial vehicle (UAV) simulated flight control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store a computer program, which, when executed by a processor, implements the unmanned aerial vehicle (UAV) simulated flight control method as described in any one of claims 1 to 7.

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