CN113348764B - System and method for overall process digital simulation of lunar aircraft - Google Patents
System and method for overall process digital simulation of lunar aircraft Download PDFInfo
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Abstract
The invention provides a lunar aircraft whole process digital simulation system and a method, the lunar aircraft whole process digital simulation system provided by the invention comprises: the system comprises a flight simulation unit, a simulation task management unit, a ground measurement control unit, a track design unit, a data processing and visual simulation unit and a flight task evaluation analysis unit. The invention effectively solves the contradiction between the fine granularity simulation and the super real-time simulation of the traditional digital simulation system, and the problems of access based on application software of different development languages, information transmission with larger data volume and the like.
Description
Technical Field
The invention relates to a digital simulation technology, in particular to a system and a method for simulating the whole process of a lunar aircraft.
Background
In the process of a lunar aircraft task, the stages of earth-moon transfer, midway orbit correction, near-moon braking, circulating moon operation and the like are involved, the complex lunar aircraft task also comprises the stages of rendezvous and docking, lunar ground acceleration, lunar ground transfer and the like, the complex lunar aircraft task has the working characteristics of multiple tasks, multiple states and multiple interfaces, and a simulation verification system capable of performing interaction on each link, each stage, each system and the like in the whole process is particularly needed to meet the requirements of completing whole-process simulation analysis, task demonstration and performance evaluation of the lunar aircraft.
The whole-process mathematical simulation system of the lunar aircraft relates to six functions of flight simulation, simulation task management, ground measurement control, orbit design, data processing, visual simulation and flight task evaluation analysis, and the flight simulation functions comprise on-board computer simulation, execution mechanism simulation, measurement sensor simulation and dynamics and environment simulation, so that the whole-process task simulation of the lunar aircraft requires a flight simulation unit to have fine granularity and super real-time simulation capability on one hand, and needs to have stronger expandability, isomerism and data transmission capability on the other hand, can be conveniently accessed to various application software developed by different development languages, and is suitable for data transmission, storage and management of large data volume.
The traditional digital simulation system has a series of problems, such as difficulty in handling contradictions between fine-granularity simulation and super-real-time simulation, access based on application software of different development languages, information transmission of large data volume and the like.
Disclosure of Invention
The invention aims to provide a system and a method for simulating the whole process of a lunar aircraft, which adopt an operation support framework of HLA/RTI + RT-Lab to realize the capability of super real-time simulation of finer granularity, multi-software access and transmission, storage and management of large data volume of the lunar aircraft.
The invention provides a lunar aircraft overall process digital simulation system, which comprises:
the flight simulation unit adopts Simulink modeling to generate simulation codes, and compiling, downloading and executing the simulation codes through a Matlab/RTW tool kit and an RT-Lab real-time simulation platform;
the simulation system comprises a simulation task management unit, a simulation system and a simulation system, wherein the simulation task management unit completes initialization of the simulation system, controls the whole simulation process, and completes simulation control, flight flow task switching, state management and parameter correction;
the ground measurement control unit receives the position, speed and instruction information of the lunar aircraft sent by the simulation task management unit and outputs the orbit control information of the lunar aircraft to the flight simulation unit;
the orbit design unit receives the position speed, the instruction information and the constraint conditions of the lunar vehicle sent by the simulation task management unit and outputs the expected orbital transfer point of the lunar vehicle and the orbit parameters after orbital transfer to the simulation task management unit;
the data processing and scene simulation unit receives the database data, the monitoring data, the state data and the evaluation data sent by the simulation task management unit and outputs a scene and a curve chart customized by the simulation system on local running software;
and the flight task evaluation and analysis unit receives the simulation data sent by the simulation task management unit to obtain data, curves and diagrams of evaluation items generated by each member.
Further, the flight simulation unit includes: the device-mounted computer simulation module sends an actuator startup and shutdown instruction to the actuator simulation module, the actuator simulation module sends control force/torque to the dynamics and space environment simulation module, the dynamics and space environment simulation module sends a motion state to the measurement sensor simulation module, the measurement sensor simulation module sends a measurement signal to the device-mounted computer simulation module, and the device-mounted computer simulation module, the actuator simulation module, the dynamics and space environment simulation module and the measurement sensor simulation module form an internal loop of the flight simulation unit.
Furthermore, the simulation task management unit comprises a simulation management module, a human-computer interaction interface module and a data conversion module; the simulation task management unit is connected with the flight simulation unit, the ground measurement control unit, the track design unit, the data processing and visual simulation unit and the flight task evaluation analysis unit through the network communication module, controls the whole simulation process through HLA/RTI, and completes simulation control, flight flow task switching, state management and parameter correction.
Further, the ground measurement control unit comprises a ground track forecasting module and a ground guide control module; the ground measurement control unit is controlled by the simulation task management unit through HLA/RTI.
Further, the track design unit comprises a moon-earth transfer track design module, a moon-earth transfer window design module, a moon-surface ascending window design module and a moon-earth transfer window design module.
Further, the data processing and view simulation unit comprises a data recording simulation member, a view simulation demonstration member and a curve chart monitoring simulation member.
Further, the flight task evaluation and analysis unit comprises an actuator work analysis member, a measurement and control and illumination analysis member, a sensor layout analysis member, a docking and sample transfer analysis member, an antenna and windsurfing board motion analysis member, a separation process analysis member, an energy balance analysis member and a thermal analysis member.
The invention also provides a digital simulation method for the whole process of the lunar aircraft, which comprises the following steps:
the simulation task management unit issues initialization information to the flight simulation unit, the ground measurement control unit, the track design unit, the data processing and visual simulation unit and the flight task evaluation unit, and a simulation system initializes;
step two, the simulation task management unit sends a design instruction to the track design unit, the track design unit designs a ground-moon transfer track, and sends track data to the simulation task management unit;
step three, the simulation task management unit issues simulation control, process control and parameter modification information to the flight simulation unit, and starts full-system simulation; the flight simulation unit simulates the flight state of the lunar aircraft, sends simulation data to the ground measurement control unit, the data processing and visual simulation unit and the flight task evaluation unit, and sends a phase identifier and the flight state to the simulation task management unit;
fourthly, the ground measurement control unit calculates a ground guide control result and sends the orbit control information to the flight simulation unit; and the flight task evaluation unit carries out evaluation and analysis and sends analysis data to the flight simulation unit and the data processing and visual simulation unit.
The advantages of the invention include:
the whole-process digital simulation system of the lunar aircraft provided by the invention adopts an operation support framework of HLA/RTI + RT-Lab, the RT-Lab is responsible for communication, synchronous operation management and the like in the flight simulation unit of the lunar aircraft, and the HLA/RTI is responsible for communication, synchronous operation management and the like between the flight simulation unit of the lunar aircraft, the simulation task management unit, the ground measurement control unit, the track design unit, the data processing and visual simulation unit and the flight task evaluation analysis unit.
The problems that the bottom layer of a digital simulation system of the whole process of the lunar aircraft is fine in granularity and high in super real-time requirement, and different development language application software on the top layer is accessed and information transmission with large data volume is achieved are solved;
the invention is suitable for the requirements of simulation analysis, task demonstration and performance evaluation of the whole process of the lunar aircraft.
Drawings
FIG. 1 is an architecture diagram of a lunar aircraft full process digital simulation system provided by the present invention;
FIG. 2 is a flow chart of data interaction of the lunar aircraft full process digital simulation system provided by the present invention;
FIG. 3 is a flow chart of data interaction for an aircraft simulation unit provided by the present invention.
Detailed Description
The lunar aircraft full process digital simulation system of the present invention will be described in further detail with reference to fig. 1 to 3.
Referring to fig. 1, in a preferred embodiment of the present invention, the architecture of the whole-process digital simulation system of a lunar aircraft includes a flight simulation unit 1, a simulation task management unit 2, a ground measurement control unit 3, a track design unit 4, a data processing and view simulation unit 5, and a flight task evaluation analysis unit 6.
The flight simulation unit 1 is constructed based on an RT-Lab real-time/super real-time simulation platform and comprises an onboard computer simulation module, an execution mechanism simulation module, a dynamics and space environment simulation module and a measurement sensor simulation module. The Simulink model is adopted, the Matlab/RTW tool box is combined with an RT-Lab real-time simulation platform to compile, download and execute simulation codes, and the real-time simulation codes can be rapidly generated through the Simulink model. The flight simulation unit 1 is connected with the simulation task management unit through a network communication module.
The measurement sensor simulation module consists of a star sensor module, an infrared horizon sensor module, a gyroscope module, an accelerometer module, a 0-1 type sun sensor, a digital sun sensor module, an analog sun sensor module, a laser radar module, a microwave radar module and an optical imaging sensor module, and is built by a Simulink module. The dynamic and space environment simulation module recurs the orbit and the attitude of the lunar aircraft and inputs the orbit and the attitude of the lunar aircraft to the measurement sensor simulation module, the measurement sensor simulation module simulates measurement output including measurement errors according to the error characteristics of each measurement sensor and provides a computer simulation module on board, the computer simulation module on board estimates a control state, calculates a control law and inputs the control law to the execution mechanism simulation module, and finally the execution mechanism simulation module outputs control force and moment to directly drive the dynamic and space environment simulation module, so that simulation of a closed-loop control process is realized. The flight simulation unit is modeled by Simulink, computers in the system are connected in a chain mode through an IEEE1394 network, and the flight simulation unit communicates with the simulation task management unit by a gigabit Ethernet.
The simulation task management unit 2 is developed by combining QT software and VC with MAK RTI, and provides a convenient control operation interface for a digital simulation system of the whole process of the lunar vehicle; through the man-machine interaction module, an operator can control the test process. The simulation task management unit 2 comprises a simulation management module, a human-computer interaction interface module and a data conversion module. The simulation task management unit 2 is connected with the flight simulation unit 1, the ground measurement control unit 3, the track design unit 4, the data processing and visual simulation unit 5 and the flight task evaluation analysis unit 6 through a network communication module, and is controlled through HLA/RTI. The simulation task management unit 2 is responsible for completing initialization of the simulation system, controlling the whole simulation process, and completing functions of simulation control, flight flow task switching, state management, parameter correction and the like.
The ground measurement control unit 3 mainly realizes the position and speed monthly report of the current state of the lunar vehicle to the expected time or the expected near-moon point and the far-moon point. The ground guide control module is developed by a Matlab M file and is used for calculating control parameters such as starting time, shutdown time, starting direction and the like of midway track correction, track maintenance, near-monthly braking and monthly acceleration, and realizing world large loop control. And the ground measurement control unit is communicated with the simulation task management unit through a gigabit Ethernet.
The ground measurement control unit 3 comprises a ground track forecasting module and a ground guide control module. The ground measurement control unit 3 is controlled by the simulation task management unit 2 through HLA/RTI, and the ground measurement control unit 3 receives the position, speed and instruction information of the lunar aircraft sent by the simulation task management unit 2, outputs the necessary control information of the lunar aircraft, and completes the large-circuit control of the lunar aircraft.
The track design unit 4 is developed by adopting VC design and comprises a moon-earth transfer track design module, a moon-earth transfer window design module, a moon-surface ascending window design module and a moon-earth transfer window design module. The orbit design unit 4 is controlled by the simulation task management unit 2 through HLA/RTI, the orbit design unit 4 receives the position speed, the instruction information and the constraint conditions of the lunar vehicle sent by the simulation task management unit 2, outputs the expected orbital transfer point and the orbit parameters after orbital transfer of the lunar vehicle, and completes the earth-moon orbit transfer design and the moon orbit transfer design in stages. The track design unit 4 mainly realizes the track design of the whole process and the selection of a launching window, and the track design unit 4 is communicated with the simulation task management unit through a gigabit Ethernet.
The data processing and vision simulation unit 5 adopts a 0RACLE database system and is used for receiving simulation data and storing the data in a storage; the visual simulation demonstration member is developed by adopting VegaPrime software and is used for showing the flight process and key actions of the whole process of the lunar aircraft; the curve chart monitoring simulation member uses VC development for on-line monitoring and post analysis of important data. The data processing and vision simulation unit is communicated with the simulation task management unit through a gigabit Ethernet.
The data processing and visual simulation unit 5 comprises a data recording simulation member, a visual simulation demonstration member and a curve chart monitoring simulation member. The data processing and vision simulation unit 5 is controlled by the simulation task management unit 2 through HLA/RTI, and the data processing and vision simulation unit 5 receives database data, monitoring data, state data and evaluation data sent by the simulation task management unit 2, outputs a view and curve chart customized by the simulation system, and stores related simulation data by using a database.
The flight task evaluation and analysis unit 6 comprises an actuator work analysis member, a measurement and control and illumination analysis member, a sensor layout analysis member, a butt joint and sample transfer analysis member, an antenna and sailboard motion analysis member, a separation process analysis member, an energy balance analysis member and a thermal analysis member. The flight mission evaluation and analysis unit 6 is controlled by the simulation mission management unit 2 through HLA/RTI, and the flight mission evaluation and analysis unit 6 receives the simulation data sent by the simulation mission management unit 2 and outputs data, curves and diagrams of evaluation items generated by each member.
The flight task evaluation and analysis unit consists of an actuator work analysis member, a measurement and control and illumination analysis member, a sensor layout analysis member, a butt joint and sample transfer analysis member, an antenna and sailboard motion analysis member, a separation process analysis member, an energy balance analysis member and a thermal analysis member. The executor working analysis member is developed by QT software and is used for calculating the working state of each thruster and flywheel on the lunar aircraft in the whole process; the measurement and control and illumination analysis member is developed by QT combined with STK software and is used for calculating the measurement and control and illumination states of the lunar aircraft in the whole process; the sensor layout analysis member is developed by QT combined with STK software and is used for calculating the working state and the view field of the main measurement sensor; the docking and sample transfer analysis members are developed by QT combined with STK software and used for demonstrating the docking and sample transfer processes; the antenna and sailboard motion analysis member is developed by QT combined with Simulink software and used for calculating the pointing angles of the antenna and the sailboard on the lunar aircraft; the separation process analysis member is developed by QT combined with STK software and is used for demonstrating the separation process of the lunar aircraft; the energy balance analysis is developed by combining QT and Simulink software and is used for calculating the energy use condition of the lunar aircraft; the liquid sloshing analysis member is developed by QT combined with Simulink software and is used for calculating the residual fuel and liquid level height change of a storage tank of the lunar aircraft; the thermal analysis member is developed by QT combined with Simulink software and is used for calculating the temperature change conditions of lunar aircraft units and important single machines. The flight task evaluation and analysis unit is communicated with the simulation task management unit through a gigabit Ethernet.
FIG. 2 is a flow chart of data interaction of the lunar aircraft full-process digital simulation system of the present invention. During normal work, before the simulation of the whole-process digital simulation system of the lunar aircraft starts, the simulation task management unit 2 issues initialization information to the flight simulation unit 1, the ground measurement control unit 3, the track design unit 4, the data processing and visual simulation unit 5 and the flight task evaluation unit 6, and the simulation system initializes; the simulation task management unit 2 sends a design instruction to the track design unit 4, the track design unit 4 designs a ground-moon transfer track, and sends track data to the simulation task management unit 2; the simulation task management unit 2 issues simulation control, process control and parameter modification information to the flight simulation unit 1, and starts full-system simulation; the flight simulation unit 1 simulates the flight state of a lunar aircraft, sends simulation data to the ground measurement control unit 3, the data processing and visual simulation unit 5 and the flight task evaluation unit 6, and sends phase identification and flight state to the simulation task management unit 2; the ground measurement control unit 3 calculates a ground guide control result and sends the orbit control information to the flight simulation unit 1; the flight mission evaluation unit 6 performs evaluation and analysis, and sends analysis data to the flight simulation unit 1 and the data processing and view simulation unit 5.
As shown in fig. 3, the analytical simulation module of the flight simulation unit 1 is provided, and the flight simulation unit 1 includes an onboard computer simulation module, an execution mechanism simulation module, a dynamics and space environment simulation module, and a measurement sensor simulation module.
The onboard computer simulation module sends an actuator on-off instruction to the execution mechanism simulation module, the execution mechanism simulation module sends control force/torque to the dynamics and space environment simulation module, the dynamics and space environment simulation module sends a (real) motion state to the measurement sensor simulation module, the measurement sensor simulation module sends a measurement signal to the onboard computer simulation module, and the onboard computer simulation module, the execution mechanism simulation module, the dynamics and space environment simulation module and the measurement sensor simulation module form an internal loop of the flight simulation unit 1.
In this embodiment, the digital simulation system for the whole process of the lunar aircraft adopts an operation support architecture of HLA/RTI + RT-Lab, the RT-Lab is responsible for communication, synchronous operation management and the like in the flight simulation unit 1, the HLA/RTI is responsible for communication, synchronous operation management and the like among the simulation task management unit 2, the ground measurement control unit 3, the track design unit 4, the data processing and visual simulation unit 5, and the flight task evaluation analysis unit 6, and the flight simulation unit 1 and the simulation task management unit 2 adopt gigabit ethernet communication, thereby effectively solving the problems of fine granularity at the bottom layer, high super-real-time performance at the top layer, access based on multiple development languages, and information transmission of large data volume.
The flight simulation unit with high requirements on simulation precision, synchronism and instantaneity and fine requirement on simulation granularity is developed by applying RT-Lab software; developing and managing a data processing and vision simulation unit with more development software and large simulation transmission, interaction and storage data quantity, a flight task evaluation and analysis unit and a simulation task management unit by using HLA/RTI software; the flight simulation unit, the simulation task management unit, the ground measurement control unit, the track design unit, the data processing and visual simulation unit and the flight task evaluation analysis unit which are necessary for the whole process digital simulation of the lunar aircraft are highly integrated. Therefore, the invention effectively solves the problems of finer granularity at the bottom layer, higher super real-time performance at the top layer, access based on application software of a plurality of development languages and information transmission with larger data volume,
although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (1)
1. A lunar aircraft full process digital simulation system, comprising: the system comprises a flight simulation unit, a simulation task management unit, a ground measurement control unit, a track design unit, a data processing and visual simulation unit and a flight task evaluation analysis unit;
the flight simulation unit is constructed based on an RT-Lab real-time/super real-time simulation platform and comprises an onboard computer simulation module, an execution mechanism simulation module, a dynamics and space environment simulation module and a measurement sensor simulation module; the Simulink model is adopted, a Matlab/RTW tool box is combined with an RT-Lab real-time simulation platform to compile, download and execute simulation codes, and the real-time simulation codes can be rapidly generated through the Simulink model; the flight simulation unit is connected with the simulation task management unit through a network communication module;
the simulation task management unit is developed by combining QT software and VC with MAK RTI, and provides a convenient control operation interface for a digital simulation system of the whole process of the lunar vehicle; through the man-machine interaction interface module, an operator can control the test process; the simulation task management unit comprises a simulation management module, a human-computer interaction interface module and a data conversion module; the simulation task management unit is connected with the flight simulation unit, the ground measurement control unit, the track design unit, the data processing and visual simulation unit and the flight task evaluation analysis unit through the network communication module, and is controlled through HLA/RTI; the simulation task management unit is responsible for completing initialization of a simulation system, controlling the whole simulation process and completing the functions of simulation control, flight flow task switching, state management and parameter correction;
the ground measurement control unit is mainly used for realizing position and speed monthly reports of the current state of the lunar vehicle to the expected time or the expected near moon point and the expected far moon point; the ground guide control module is developed by a Matlab M file and is used for calculating the starting time, the shutdown time and the starting direction of midway track correction, track maintenance, near-monthly braking and monthly acceleration, and realizing world large loop control; the ground measurement control unit is communicated with the simulation task management unit through a gigabit Ethernet; the ground measurement control unit comprises a ground track forecasting module and a ground guide control module; the ground measurement control unit is controlled by the simulation task management unit through HLA/RTI, receives the position, speed and instruction information of the lunar aircraft sent by the simulation task management unit, outputs the necessary control information of the lunar aircraft, and completes the large-circuit control of the lunar aircraft;
the orbit design unit is developed by adopting VC design and comprises a moon-earth transfer orbit design module, a moon-earth transfer window design module, a moon-surface ascending window design module and a moon-earth transfer window design module; the orbit design unit is controlled by the simulation task management unit through HLA/RTI, receives the position speed, the instruction information and the constraint conditions of the lunar vehicle sent by the simulation task management unit, outputs the expected orbital transfer point and the orbit parameters after orbital transfer of the lunar vehicle, and completes the earth-moon transfer orbit design and the moon-moon transfer orbit design in stages; the rail design unit mainly realizes the rail design of the whole process and the selection of a launching window, and the rail design unit is communicated with the simulation task management unit through a gigabit Ethernet;
the data processing and visual simulation unit; adopting ORACLE database system for receiving simulation data and storing the data in storage(ii) a The view simulation demonstration member is developed by adopting VegaPrime software and is used for showing the flight process and key actions of the whole process of the lunar aircraft; the curve chart monitoring simulation member uses VC development for on-line monitoring and post analysis of important data; the data processing and vision simulation unit is communicated with the simulation task management unit through a gigabit Ethernet; the data processing and visual simulation unit comprises a data recording simulation member, a visual simulation demonstration member and a curve chart monitoring simulation member; the data processing and vision simulation unit is controlled by the simulation task management unit through HLA/RTI, receives database data, monitoring data, state data and evaluation data sent by the simulation task management unit, outputs a view and curve chart customized by the simulation system, and stores related simulation data by using a database; the flight task evaluation and analysis unit comprises an actuator work analysis member, a measurement and control and illumination analysis member, a sensor layout analysis member, a butt joint and sample transfer analysis member, an antenna and sailboard motion analysis member, a separation process analysis member, an energy balance analysis member and a thermal analysis member; the flight task evaluation and analysis unit is controlled by the simulation task management unit through HLA/RTI, receives the simulation data sent by the simulation task management unit, and outputs data, curves and diagrams of evaluation items generated by each member; the executor working analysis member is developed by QT software and is used for calculating the working state of each thruster and flywheel on the lunar aircraft in the whole process; the measurement and control and illumination analysis member is developed by QT combined with STK software and is used for calculating the measurement and control and illumination states of the lunar aircraft in the whole process; the sensor layout analysis member is developed by QT combined with STK software and is used for calculating the working state and the view field of the main measurement sensor; the docking and sample transfer analysis members are developed by QT combined with STK software and used for demonstrating the docking and sample transfer processes; the antenna and sailboard motion analysis member is developed by QT combined with Simulink software and used for calculating the pointing angles of the antenna and the sailboard on the lunar aircraft; the separation process analysis member is developed by QT combined with STK software and is used for demonstrating the separation process of the lunar aircraft; the energy balance isQT is analyzed and developed by combining Simulink software, and the QT is used for calculating the energy use condition of the lunar aircraft;
the liquid sloshing analysis member is developed by QT combined with Simulink software and used for calculating the residual fuel and liquid level height change of a storage tank of the lunar aircraft; the thermal analysis member is developed by QT combined with Simulink software and is used for calculating the temperature change conditions of lunar aircraft units and important single machines; the flight task evaluation and analysis unit is communicated with the simulation task management unit through a gigabit Ethernet;
the on-board computer simulation module sends an actuator on-off instruction to the execution mechanism simulation module, the execution mechanism simulation module sends control force/torque to the dynamics and space environment simulation module, the dynamics and space environment simulation module sends a motion state to the measurement sensor simulation module, the measurement sensor simulation module sends a measurement signal to the on-board computer simulation module, and the on-board computer simulation module, the execution mechanism simulation module, the dynamics and space environment simulation module and the measurement sensor simulation module form an internal loop of the flight simulation unit.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111078210A (en) * | 2019-12-11 | 2020-04-28 | 中国科学院光电技术研究所 | QT and Matlab multithreading hybrid programming software architecture for adaptive optical control system |
| CN113741551A (en) * | 2021-07-16 | 2021-12-03 | 北京航空航天大学 | Overall process trajectory optimization method and device based on proxy model |
| CN116719247A (en) * | 2023-08-10 | 2023-09-08 | 北京国星创图科技有限公司 | Digital space simulation system and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111078210A (en) * | 2019-12-11 | 2020-04-28 | 中国科学院光电技术研究所 | QT and Matlab multithreading hybrid programming software architecture for adaptive optical control system |
| CN113741551A (en) * | 2021-07-16 | 2021-12-03 | 北京航空航天大学 | Overall process trajectory optimization method and device based on proxy model |
| CN116719247A (en) * | 2023-08-10 | 2023-09-08 | 北京国星创图科技有限公司 | Digital space simulation system and method |
| CN116719247B (en) * | 2023-08-10 | 2023-11-03 | 北京国星创图科技有限公司 | Digital space simulation system and method |
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