The invention relates to an unmanned cluster virtual-real
interactive simulation method based on three-dimensional
motion capture, which comprises the following steps of: operating autonomous navigation and autonomous exploration functions of a single real
intelligent agent in a real environment, acquiring posture information of the real
intelligent agent through a
motion capture system, and acquiring image,
point cloud and IMU (
Inertial Measurement Unit) posture information through a sensor; the autonomous navigation and autonomous exploration functions of a single virtual intelligent body are operated in a
simulation environment, and posture information, images, point clouds and IMU posture information of the virtual intelligent body are obtained; sending data stored in a real environment to a
simulation platform in real time, comparing and calculating a dynamic error, a
kinematics error, a sensor error and an environment error, and correcting a
virtual agent model and a
simulation environment model; in a real environment and a simulation environment, multi-
machine topology flexible formation and multi-
machine cluster autonomous navigation are carried out at the same time, whether various errors of each
virtual agent and a real agent exceed a set threshold value or not is calculated through comparison, and virtual-real interaction iteration training is carried out until the errors converge.