CN114578856A - Representation method for formation motion characteristic scene of fixed-wing unmanned aerial vehicles - Google Patents

Representation method for formation motion characteristic scene of fixed-wing unmanned aerial vehicles Download PDF

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CN114578856A
CN114578856A CN202210209219.7A CN202210209219A CN114578856A CN 114578856 A CN114578856 A CN 114578856A CN 202210209219 A CN202210209219 A CN 202210209219A CN 114578856 A CN114578856 A CN 114578856A
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fixed
unmanned aerial
wing unmanned
aerial vehicle
axis
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王肖珩
包醒东
周翔
王振华
董纯柱
肖志河
毛宏霞
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Beijing Institute of Environmental Features
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Beijing Institute of Environmental Features
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Abstract

The invention relates to the technical field of photoelectric analysis of fixed-wing unmanned aerial vehicles, in particular to a representation method of formation motion characteristic scene of fixed-wing unmanned aerial vehicles, electronic equipment and a storage medium, wherein the method comprises the following steps: establishing a fixed-wing unmanned aerial vehicle coordinate system for each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles; constructing a kinematics equation set and a dynamics equation set of the fixed-wing unmanned aerial vehicle based on a coordinate system, acting force and moment of the fixed-wing unmanned aerial vehicle; constructing a communication topological structure of a formation of the fixed-wing unmanned aerial vehicles according to the communication relationship among the fixed-wing unmanned aerial vehicles; calculating a motion scene model of the formation of the fixed-wing unmanned aerial vehicles changing along with time based on the obtained communication topological structure, the kinematics equation set and the dynamics equation set; and calculating the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles based on the motion scene model and the preset sunshine condition. The scheme can realize the representation of the motion characteristic of the whole time-varying formation of the fixed-wing unmanned aerial vehicle formation.

Description

Representation method for formation motion characteristic scene of fixed-wing unmanned aerial vehicles
Technical Field
The embodiment of the invention relates to the technical field of photoelectric analysis of fixed-wing unmanned aerial vehicles, in particular to a representation method of a formation motion characteristic scene of fixed-wing unmanned aerial vehicles, electronic equipment and a storage medium.
Background
The fixed wing unmanned aerial vehicle is widely applied to various fields such as terrain exploration, geographical mapping, line inspection and the like due to the advantages of low cost, easiness in control and the like. With the continuous development of related industries, in the face of more and more complex flight missions, the single fixed-wing unmanned aerial vehicle is limited by the factors such as execution efficiency and fault tolerance, and can not meet the mission requirements of military affairs and civil affairs. Therefore, collaborative formation of multiple fixed wing drones is becoming a necessary trend.
At present, the motion scene characterization of the formation of the fixed-wing unmanned aerial vehicles formed by the multiple fixed-wing unmanned aerial vehicles is that targets of single fixed-wing unmanned aerial vehicles are directly superposed, the mode is difficult to accurately reflect the overall motion characteristic of the formation of the fixed-wing unmanned aerial vehicles, and the change of the formation of the fixed-wing unmanned aerial vehicles along with time cannot be reflected. Therefore, a time-varying formation motion characteristic scene characterization method for the whole fixed-wing drone formation needs to be provided.
Disclosure of Invention
In view of at least some of the above disadvantages, embodiments of the present invention provide a method for characterizing a formation motion characteristic scene of fixed-wing uavs, an electronic device, and a storage medium, which can implement characterization of a time-varying formation motion characteristic of a whole formation of fixed-wing uavs.
In a first aspect, an embodiment of the present invention provides a method for characterizing a formation motion characteristic scene of fixed-wing uavs, including:
establishing a fixed-wing unmanned aerial vehicle coordinate system for each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles;
constructing a kinematic equation set and a kinetic equation set of the fixed-wing unmanned aerial vehicle based on the coordinate system, the acting force and the moment of the fixed-wing unmanned aerial vehicle;
constructing a communication topological structure of the formation of the fixed-wing unmanned aerial vehicles according to the communication relation among the fixed-wing unmanned aerial vehicles;
calculating a motion scene model of the formation of the fixed-wing unmanned aerial vehicles changing along with time based on the obtained communication topological structure, the obtained kinematic equation set and the obtained dynamic equation set;
and calculating the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles based on the motion scene model and the preset sunshine condition.
Optionally, the establishing a fixed-wing drone coordinate system includes:
establishing a ground inertial coordinate system which is immovable relative to the earth surface, wherein the origin of the ground inertial coordinate system is at one point on the earth surface, the X axis is positioned in the horizontal plane and points to a preset fixed direction, the Z axis is perpendicular to the ground plane and points to the geocentric, and the Y axis is determined by the right-hand rule;
establishing a body coordinate system fixed on a body of the fixed-wing unmanned aerial vehicle, wherein the origin of the body coordinate system is at the gravity center of the fixed-wing unmanned aerial vehicle, the X axis is consistent with the longitudinal axis of the body of the fixed-wing unmanned aerial vehicle and points to the direction of the head of the fixed-wing unmanned aerial vehicle, the Y axis is perpendicular to the longitudinal symmetry plane of the fixed-wing unmanned aerial vehicle and points to the right side of the body of the fixed-wing unmanned aerial vehicle, and the Z axis is located in the longitudinal symmetry plane of the fixed-wing unmanned aerial vehicle, perpendicular to the longitudinal axis of the fixed-wing unmanned aerial vehicle and points to the lower side of the body of the fixed-wing unmanned aerial vehicle;
the method comprises the steps of establishing a speed coordinate system fixed on a fixed-wing unmanned aerial vehicle body, wherein the original point of the speed coordinate system is located at the gravity center of the fixed-wing unmanned aerial vehicle, the X axis points to the speed vector direction of the fixed-wing unmanned aerial vehicle relative to air, the Z axis is located in the longitudinal symmetry plane of the fixed-wing unmanned aerial vehicle, the Z axis is perpendicular to the speed vector direction and points to the lower portion of the body of the fixed-wing unmanned aerial vehicle, and the Y axis is perpendicular to the X axis and the Z axis and points to the right portion of the body of the fixed-wing unmanned aerial vehicle.
Optionally, the system of kinematic equations comprises a centroid position equation and an euler angle equation; wherein the expression of the centroid position equation is:
Figure RE-GDA0003565487830000021
the expression of the euler angle equation is as follows:
Figure RE-GDA0003565487830000022
Figure RE-GDA0003565487830000023
Figure RE-GDA0003565487830000024
wherein
Figure RE-GDA0003565487830000025
Respectively represent xg、yg、zgFirst derivative of (a), xg、yg、zgRespectively represent the position coordinates of an X axis, a Y axis and a Z axis of the fixed-wing unmanned aerial vehicle under the ground inertial coordinate system, u, V and w respectively represent the components of the flying speed V of the fixed-wing unmanned aerial vehicle in the directions of the X axis, the Y axis and the Z axis of the body coordinate system,
Figure RE-GDA0003565487830000031
representing a rotation matrix; theta, psi and phi respectively represent a pitch angle, a yaw angle and a roll angle of the fixed-wing unmanned aerial vehicle, and p, q and r respectively represent components of a rotation angular speed omega of the body coordinate system of the fixed-wing unmanned aerial vehicle relative to the ground inertia coordinate system along an X axis, a Y axis and a Z axis of the body coordinate system;
the dynamic equation set comprises a centroid dynamic equation and a kinetic equation of rotation around the centroid; wherein the expression of the centroid kinetic equation is:
Figure RE-GDA0003565487830000032
the expression of the kinetic equation of rotation around the centroid is as follows:
Figure RE-GDA0003565487830000033
wherein Fx、Fy、FzRespectively representing the acting forces of the fixed-wing unmanned aerial vehicle in the directions of an X axis, a Y axis and a Z axis under the body coordinate system, m represents the mass of the fixed-wing unmanned aerial vehicle, and ax、ay、azRespectively representing the accelerations of the fixed wing unmanned aerial vehicle in the directions of the X axis, the Y axis and the Z axis under the body coordinate system, L, M, N respectively representing the moments of the fixed wing unmanned aerial vehicle in the directions of the X axis, the Y axis and the Z axis under the body coordinate system, Ix、Iy、IzRespectively representing the inertia moments I of the fixed-wing unmanned aerial vehicle to the X axis, the Y axis and the Z axis corresponding to the cross section under the body coordinate systemxzRespectively representing the inertia products of the corresponding cross section of the fixed-wing unmanned aerial vehicle to the X axis and the Z axis under the body coordinate system.
Optionally, the constructing a communication topology of a formation of fixed-wing drones according to a communication relationship between fixed-wing drones includes:
numbering each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles, wherein each number represents one fixed-wing unmanned aerial vehicle;
establishing a directed graph G (Q, E, W) according to the communication relation among the fixed-wing unmanned planes; wherein Q ═ { Q ═ Q1，q2，…，qnIs a non-empty point set, each point corresponds to a fixed-wing drone, the total number is n,
Figure RE-GDA0003565487830000034
is a set of directed graph boundaries, W is a weighted adjacency matrix,
Figure RE-GDA0003565487830000035
the information interaction in the directed graph is determined;
defining a Laplacian matrix of the directed graph G from a weighted adjacency matrix
Figure RE-GDA0003565487830000036
Optionally, the calculating a motion scene model of the formation of fixed-wing drones over time based on the obtained communication topology, the obtained kinematic equation set and the obtained kinetic equation set includes:
setting a virtual leader and a mass center movement of the virtual leader from take-off to stable flight;
causing one fixed-wing drone in the communication topology to directly receive state information of the virtual leader;
and carrying out simulation calculation based on the communication topological structure, the kinematics equation set, the dynamics equation set and the mass center motion of the virtual leader to obtain the state parameters of each fixed wing unmanned aerial vehicle in the processes from take-off to stable flight.
Optionally, the calculating an infrared radiation characteristic of the formation of fixed-wing drones based on the motion scene model and a preset sunshine condition includes:
and (3) calculating the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles by adopting MATLAB simulation based on the state parameters of the fixed-wing unmanned aerial vehicles and the preset sunshine conditions.
Optionally, the calculating the infrared radiation characteristics of the formation of the fixed-wing drones by using MATLAB simulation includes:
and calculating the integral infrared radiation value of the formation of the fixed-wing unmanned aerial vehicles at different viewing angles at typical time.
Optionally, the method further comprises:
and calculating the integral infrared imaging images of the formation of the fixed-wing unmanned aerial vehicles at different viewing angles at typical moments based on the motion scene model and the infrared radiation characteristics of the formation of the fixed-wing unmanned aerial vehicles.
In a second aspect, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the method according to any embodiment of the present specification.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer program causes the computer to execute the method described in any embodiment of the present specification.
The embodiment of the invention provides a method for representing a motion characteristic scene of formation of fixed-wing unmanned aerial vehicles, electronic equipment and a storage medium, the method establishes a coordinate system for each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles, constructs a corresponding kinematic equation set and a corresponding kinetic equation set, determines a communication topological structure of the formation according to a communication relation among the fixed-wing unmanned aerial vehicles, further calculates to obtain a motion scene model of the whole formation of the fixed-wing unmanned aerial vehicles changing along with time, calculates the infrared radiation characteristic of the formation by combining a preset sunshine condition to represent the motion characteristic of the whole formation of the fixed-wing unmanned aerial vehicles in a certain time or a certain period, the invention considers the fixed-wing unmanned aerial vehicles in the formation as mutually associated and coordinated individuals, considers the influence of the transmission of internal information of the formation and the time change on the motion of the formation of the fixed-wing unmanned aerial vehicles in the six-degree-of-freedom motion process of the fixed-wing unmanned aerial vehicles, and acquiring the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles under the preset condition so as to obtain the accurate expression of the movement characteristic of the whole formation of the fixed-wing unmanned aerial vehicles at the specific time.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a method for characterizing a formation motion characteristic scene of fixed-wing uavs according to an embodiment of the present invention;
FIG. 2(a) is a schematic diagram of a relationship between a body coordinate system and a ground inertial coordinate system according to an embodiment of the present invention;
FIG. 2(b) is a schematic diagram of the relationship between the velocity coordinate system and the ground inertia coordinate system in an embodiment of the present invention;
fig. 3 is a schematic diagram of a communication topology of a formation of fixed-wing drones consisting of 4 fixed-wing drones in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a formation of a "herringbone" formation comprising 4 fixed-wing drones in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a three-dimensional flight trajectory of 4 fixed-wing drones from takeoff to smooth flight in an embodiment of the present invention;
fig. 6(a) is a graph of the change of longitudinal speed (m/s) with time(s) during the process from take-off to smooth flight for the 4 fixed-wing drones shown in fig. 5;
FIG. 6(b) is a plot of lateral velocity (m/s) versus time(s) for the 4 fixed-wing drones shown in FIG. 5 from takeoff to smooth flight;
fig. 6(c) is a graph of vertical velocity (m/s) versus time(s) for the 4 fixed-wing drones shown in fig. 5 from takeoff to smooth flight;
fig. 7(a) is a graph of the roll angle (deg) over time(s) of the 4 fixed-wing drones shown in fig. 5 from takeoff to smooth flight;
FIG. 7(b) is a plot of pitch angle (deg) (m/s) versus time(s) during takeoff to smooth flight of the 4 fixed-wing drones shown in FIG. 5;
fig. 7(c) is a plot of yaw (deg) versus time(s) for the 4 fixed-wing drones of fig. 5 from takeoff to smooth flight;
FIG. 8(a) is a diagram of a circumferential IR distribution of pitch angles along the longitudinal axis of the body of a fixed-wing drone at a time during flight;
FIG. 8(b) is a diagram of a circumferential IR radiation value distribution of a pitch angle at a time in flight with a view angle perpendicular to the longitudinal axis of the fuselage of the fixed-wing drone;
FIG. 8(c) is a diagram of the azimuthal circumferential IR radiation value distribution at a time in flight with the azimuth perpendicular to the longitudinal axis of the fuselage of the fixed-wing drone;
FIG. 9(a) is an infrared imaging plot of pitch angle 120-azimuth angle 0 along the longitudinal axis of the fuselage of a fixed-wing drone at a time in flight;
FIG. 9(b) is an infrared imaging diagram of a pitch angle of 120 degrees to an azimuth angle of 90 degrees, at a moment in flight, with the view direction angle perpendicular to the longitudinal axis of the fuselage of the fixed-wing drone;
fig. 9(c) is an infrared imaging diagram of a pitch angle of 90 degrees to an azimuth angle of 120 degrees, wherein the visual angle of the infrared imaging diagram is vertical to the longitudinal axis direction of the fixed-wing unmanned aerial vehicle body at a certain moment in flight.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As mentioned above, the motion scene characterization of the formation of the fixed-wing uavs in the prior art is usually the superposition of targets of a single fixed-wing uavs, and this way is difficult to accurately reflect the overall motion characteristics of the formation of the fixed-wing uavs, and cannot reflect the changes of the formation of the fixed-wing uavs over time. In view of the above, the invention provides a method for representing a motion characteristic scene of a formation of fixed-wing unmanned aerial vehicles, which is characterized by calculating a motion scene model of the whole formation of the fixed-wing unmanned aerial vehicles along with time according to a communication topological structure, a kinematic equation set and a kinetic equation set of the formation of the fixed-wing unmanned aerial vehicles, and representing the motion characteristic of the formation of the fixed-wing unmanned aerial vehicles by calculating infrared radiation characteristics so as to realize analysis of a target scene of a group of fixed-wing unmanned aerial vehicles.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a method for characterizing a formation motion characteristic scene of fixed-wing uavs, where the method includes:
step 100, establishing a fixed-wing unmanned aerial vehicle coordinate system for each fixed-wing unmanned aerial vehicle included in a formation of fixed-wing unmanned aerial vehicles;
102, constructing a kinematics equation set and a dynamics equation set of the fixed-wing unmanned aerial vehicle based on a coordinate system, acting force and moment of the fixed-wing unmanned aerial vehicle;
104, constructing a communication topological structure of a formation of the fixed-wing unmanned aerial vehicles according to the communication relation among the fixed-wing unmanned aerial vehicles;
106, calculating a motion scene model of the formation of the fixed-wing unmanned aerial vehicles changing along with time based on the obtained communication topological structure, the kinematics equation set and the dynamics equation set;
and 108, calculating the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles based on the motion scene model and the preset sunshine condition.
In the embodiment of the invention, a coordinate system is established for each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles, and a corresponding kinematics equation set and a corresponding dynamics equation set are established, constructing a communication topological structure of fixed-wing unmanned aerial vehicles in formation according to the communication relation among the fixed-wing unmanned aerial vehicles, and then calculating to obtain a motion scene model of the whole fixed-wing unmanned aerial vehicle formation along with the time change, and representing the motion characteristic of the whole fixed-wing unmanned aerial vehicle formation by combining the infrared radiation characteristic, the invention regards each fixed-wing unmanned aerial vehicle in the formation as a correlated individual, in the process of solving the six-degree-of-freedom motion of each fixed-wing unmanned aerial vehicle, the influence of the transmission of information in the formation and the time change on the formation motion of the fixed-wing unmanned aerial vehicles is considered, and acquiring the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles under the preset condition so as to obtain the accurate expression of the whole formation motion of the formation of the fixed-wing unmanned aerial vehicles at the specific time.
The manner in which the various steps shown in fig. 1 are performed is described below.
Aiming at step 100, establishing a fixed-wing drone coordinate system, further comprising:
establishing a ground inertial coordinate system which is immovable relative to the earth surface, wherein the origin of the ground inertial coordinate system is at one point on the earth surface, such as a flying point of the fixed-wing unmanned aerial vehicle on the ground, the X axis of the ground inertial coordinate system is positioned in the horizontal plane and points to a preset fixed direction, such as the course direction of the fixed-wing unmanned aerial vehicle, the Z axis of the ground inertial coordinate system is vertical to the ground plane and points to the geocentric, and the Y axis of the ground inertial coordinate system is determined by the right-hand rule;
establishing a body coordinate system fixed on a body of the fixed-wing unmanned aerial vehicle, wherein the origin of the body coordinate system is at the gravity center of the fixed-wing unmanned aerial vehicle, the X axis of the body coordinate system is consistent with the longitudinal axis of the body of the fixed-wing unmanned aerial vehicle and points to the head direction of the fixed-wing unmanned aerial vehicle, the Y axis of the body coordinate system is perpendicular to the longitudinal symmetry plane of the fixed-wing unmanned aerial vehicle and points to the right side of the body of the fixed-wing unmanned aerial vehicle, and the Z axis of the body coordinate system is located in the longitudinal symmetry plane of the fixed-wing unmanned aerial vehicle and perpendicular to the longitudinal axis of the fixed-wing unmanned aerial vehicle and points to the lower side of the body of the fixed-wing unmanned aerial vehicle;
the speed coordinate system of being fixed in on the fixed wing unmanned aerial vehicle organism is established, the initial point of speed coordinate system is at the focus of fixed wing unmanned aerial vehicle, the directional fixed wing unmanned aerial vehicle's of X axle of speed coordinate system speed vector direction for the air, the Z axle of speed coordinate system is located the rip cutting symmetrical plane of fixed wing unmanned aerial vehicle, perpendicular to speed vector direction, directional fixed wing unmanned aerial vehicle's fuselage below, the Y axle perpendicular to speed coordinate system's of speed coordinate system X axle and Z axle, directional fixed wing unmanned aerial vehicle's fuselage is right-hand.
Fig. 2(a) and 2(b) show the body coordinate system, the velocity coordinate system, and the ground inertia coordinate system, respectively, where the origin of the ground inertia coordinate system is O and the X, Y, Z axes are X in fig. 2(a) and 2(b), respectivelyg、Yg、ZgIn fig. 2(a), the origin of the body coordinate system is o, and the X, Y, Z axes are X, Y, Z, respectively, and in fig. 2(b), the origin of the speed coordinate system is o, and the X, Y, Z axes are X, respectivelya、Ya、Za. By adopting the embodiment, the corresponding coordinate system is established for each fixed-wing unmanned aerial vehicle in the formation, the subsequent accurate solving of the motion process of each fixed-wing unmanned aerial vehicle is facilitated, the state parameters of each fixed-wing unmanned aerial vehicle are quantitatively expressed, the coordinate conversion among data is realized, and the representation of each fixed-wing unmanned aerial vehicle under different coordinate systems is completed.
Aiming at the kinematics equation set and the dynamics equation set of the fixed-wing unmanned aerial vehicle constructed in the step 102, the kinematics equation set comprises a centroid position equation and an Euler angle equation; wherein, the expression of the centroid position equation is as follows:
Figure RE-GDA0003565487830000081
the expression of the euler angle equation is:
Figure RE-GDA0003565487830000082
Figure RE-GDA0003565487830000083
Figure RE-GDA0003565487830000084
wherein
Figure RE-GDA0003565487830000085
Respectively represent xg、yg、zgFirst derivative of (a), xg、yg、zgRespectively represent the position coordinates of an X axis, a Y axis and a Z axis of the fixed-wing unmanned aerial vehicle under a ground inertial coordinate system, u, V and w respectively represent the components of the flying speed V of the fixed-wing unmanned aerial vehicle in the directions of the X axis, the Y axis and the Z axis of a body coordinate system,
Figure RE-GDA0003565487830000086
representing a rotation matrix;
Figure RE-GDA0003565487830000087
respectively representing first derivatives of theta, psi and phi, respectively representing a pitch angle, a yaw angle and a roll angle of the fixed-wing unmanned aerial vehicle, wherein the pitch angle theta represents an included angle between a longitudinal axis of a body of the fixed-wing unmanned aerial vehicle and a ground plane, a nose raising of the fixed-wing unmanned aerial vehicle is taken as a positive angle, the yaw angle psi represents an included angle between a projection of the longitudinal axis of the body of the fixed-wing unmanned aerial vehicle on the ground plane and an X axis of a ground inertial coordinate system, and the nose right yaw of the fixed-wing unmanned aerial vehicle is taken as an included angleIs positive; the roll angle phi represents an included angle between a Z axis and a vertical plane passing through an X axis under a body coordinate system, the included angle is positive when the unmanned aerial vehicle inclines to the right side of the body of the fixed wing unmanned aerial vehicle, and p, q and r respectively represent components of a rotation angular velocity omega of the body coordinate system of the fixed wing unmanned aerial vehicle relative to a ground inertia coordinate system along the X axis, the Y axis and the Z axis of the body coordinate system;
according to the acting force (including gravity, thrust and aerodynamic force) acting on the fixed-wing drone and the corresponding moment, the spatial motion of the fixed-wing drone considered as a rigid body can be divided into two parts: the motion of the center of mass and the rotation around the center of mass, i.e., the system of kinetic equations comprises a center of mass kinetic equation and a rotation around the center of mass kinetic equation; wherein, the expression of the centroid kinetic equation is as follows:
Figure RE-GDA0003565487830000091
the expression for the kinetic equation of rotation around the centroid is:
Figure RE-GDA0003565487830000092
wherein, Fx、Fy、FzRespectively representing the acting forces of the fixed-wing unmanned aerial vehicle in the directions of an X axis, a Y axis and a Z axis under a body coordinate system, m represents the mass of the fixed-wing unmanned aerial vehicle, and ax、ay、azRespectively represents the acceleration of the fixed wing unmanned aerial vehicle in the X-axis direction, the Y-axis direction and the Z-axis direction under a body coordinate system, L, M, N respectively represents the moment of the fixed wing unmanned aerial vehicle in the X-axis direction, the Y-axis direction and the Z-axis direction under the body coordinate system, Ix、Iy、IzRespectively represents the inertia moments of the fixed-wing unmanned aerial vehicle on the X axis, the Y axis and the Z axis corresponding to the cross section under the coordinate system of the body, IxzRespectively representing the inertia products of the corresponding cross section of the fixed-wing drone to the X axis and the Z axis under the coordinate system of the body.
In the embodiment, an equation set is constructed for six-degree-of-freedom motion (including three linear motions and three rotations) of the fixed-wing unmanned aerial vehicle, so that motion parameters of the fixed-wing unmanned aerial vehicle can be accurately solved in a subsequent process, and analysis of a motion scene of the fixed-wing unmanned aerial vehicle is realized.
The communication topology network controlled by the formation of the fixed-wing uavs is variable and switchable, and when each fixed-wing drone in the formation can directly or indirectly obtain the position and posture information of the virtual leader, the communication topology network is considered to have the spanning tree. The information transmission between the n fixed-wing unmanned aerial vehicles in the formation can be roughly divided into an undirected graph and a directed graph, and in order to reduce the burden of airborne equipment and reduce the information transmission amount, the directed graph is used for modeling. Optionally, for step 104, further comprising:
numbering each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles, wherein each number represents one fixed-wing unmanned aerial vehicle; if the total number of the fixed-wing unmanned planes is n, the numbers can be from 1 to n;
establishing a directed graph G (Q, E, W) according to the communication relation among the fixed-wing unmanned planes; wherein Q ═ Q1，q2，…，qnIs a non-empty point set, each point corresponds to a fixed-wing drone, the total number is n,
Figure RE-GDA0003565487830000101
is a set of directed graph boundaries, W is a weighted adjacency matrix,
Figure RE-GDA0003565487830000102
determined by information interaction in the directed graph, when the information of the fixed-wing drone i can be transmitted to the fixed-wing drone j, then (q) is presenti，qj) E, and weight the corresponding value w in the adjacency matrixijIs greater than 0; when the information of the fixed-wing drone i cannot be transmitted to the fixed-wing drone j, the corresponding value w in the weighted adjacency matrix ij0; when i ═ j, w ij0, namely the fixed-wing drone i cannot transmit information to itself;
defining a Laplace matrix of a directed graph G from a weighted adjacency matrix
Figure RE-GDA0003565487830000103
When the value of i is equal to j,the corresponding value in the Laplace matrix is the inverse of the corresponding value in the weighted adjacency matrix, i.e. lij＝-wijWhen i ≠ j, the corresponding value in the Laplace matrix is the sum of the corresponding values of the jth column except the ith row in the weighted adjacency matrix, that is
Figure RE-GDA0003565487830000104
With the above embodiment, when a boundary in a directed graph belongs to a set of boundaries, i.e., (q)i，qj) E, meaning that the relevant position attitude etc. information can be transmitted from fixed-wing drone i to fixed-wing drone j. In the directed graph, the number of boundaries in the boundary set of each node is uncertain, information such as the position and attitude of the fixed-wing drone i can be transmitted to a plurality of fixed-wing drones in a formation, wherein each fixed-wing drone capable of acquiring the information of the fixed-wing drone i is regarded as an adjacent set of the fixed-wing drone i, that is, Ni＝{j|(qi，qj) E.g. E. The communication topology structure based on the directed graph can realize association and coupling among all the fixed-wing unmanned aerial vehicles in formation movement, and is favorable for reducing the calculation amount.
With respect to step 106, further comprising:
setting a virtual leader and the mass center motion of the virtual leader from take-off to stable flight;
enabling a fixed-wing unmanned aerial vehicle in a communication topological structure to directly receive state information of a virtual leader;
carrying out simulation calculation based on the communication topological structure, the kinematics equation set, the dynamics equation set and the mass center motion of the virtual leader to obtain the state parameters of each fixed wing unmanned aerial vehicle in the process from take-off to stable flight; wherein the state parameters preferably include at least track, speed and attitude.
By adopting the embodiment, the information of the virtual leader can be transmitted into the formation of the fixed-wing unmanned aerial vehicles and then transmitted to each fixed-wing unmanned aerial vehicle one by one, the association and the coupling among the multiple fixed-wing unmanned aerial vehicles are realized, after simulation calculation is carried out, the change data of the state parameters of the fixed-wing unmanned aerial vehicles along with the time within a period of time can be obtained, the dynamic analysis of a motion scene is completed, and the obtained state parameters (such as the flight path, the speed and the posture of each fixed-wing unmanned aerial vehicle) can be further used for research and analysis.
With respect to step 108, further comprising:
based on motion scene model and predetermined sunshine condition, calculate the infrared radiation characteristic of fixed wing unmanned aerial vehicle formation, include:
and (3) calculating the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles by adopting MATLAB simulation based on the state parameters of the fixed-wing unmanned aerial vehicles and the preset sunshine conditions.
During the application, after balancing with ambient temperature, the change of fixed wing unmanned aerial vehicle target infrared radiation characteristic is less, and target temperature characteristic change can be thought to be only influenced by sunshine radiation and ground radiation, and wherein ground radiation influences lessly, consequently can mainly consider sunshine irradiation. In the embodiment, based on the state parameters of each fixed-wing unmanned aerial vehicle and the preset sunshine conditions, MATLAB is adopted to execute simulation calculation to associate the motion scene with the characteristics, and the infrared radiation characteristics of the formation of the fixed-wing unmanned aerial vehicles in a typical scene are demonstrated.
Further, adopt MATLAB simulation calculation fixed wing unmanned aerial vehicle formation's infrared radiation characteristic, include:
and calculating the integral infrared radiation value of the formation of the fixed-wing unmanned aerial vehicles at different viewing angles at typical time.
By adopting the embodiment, the overall infrared radiation distribution of the formation of the fixed-wing unmanned aerial vehicles can be calculated, the shielding relation among the fixed-wing unmanned aerial vehicles in the formation is considered in the obtained result, the infrared characteristic parameters of the single fixed-wing unmanned aerial vehicle target are not superposed, and various characteristics of the multi-fixed-wing unmanned aerial vehicle collaborative formation in the motion can be more accurately and effectively embodied.
Further, the method for characterizing the formation motion characteristic scene of the fixed-wing unmanned aerial vehicles further comprises the following steps:
and calculating the integral infrared imaging images of the formation of the fixed-wing unmanned aerial vehicles at different viewing angles at typical moments based on the moving scene model and the infrared radiation characteristics of the formation of the fixed-wing unmanned aerial vehicles.
Above-mentioned embodiment can demonstrate the motion of many fixed wing unmanned aerial vehicle formation in coordination more directly perceivedly through obtaining the holistic infrared imaging picture of representative fixed wing unmanned aerial vehicle formation, especially shelters from the change that the relation caused.
Further, the method for characterizing the formation motion characteristic scene of the fixed-wing unmanned aerial vehicles further comprises the following steps:
and comparing the calculated infrared radiation characteristics of the formation of the fixed-wing unmanned aerial vehicles with the actual measurement values to determine the effectiveness of the motion scene model.
In the embodiment, the infrared radiation characteristic obtained by simulation is compared with an actual measurement value, so that the accuracy of the motion scene model of the formation of the fixed-wing unmanned aerial vehicles changing along with time is verified, and the effectiveness and the reliability of the method are ensured.
Referring to fig. 3 to 9(b), in a preferred embodiment, to verify the effectiveness of the method of the present invention, the present invention further analyzes a formation of 4 fixed-wing drones, and studies the process from takeoff to stable flight from the ground. Corresponding steps 100 and 102 as previously described, fig. 3 illustrates the communication topology of the formation of fixed-wing drones (including fixed-wing drones 1 to 4) constructed in step 104, assuming a set of point-set nodes Q ═ Q1，q2，q3，q4The boundary set E { (q)4，q3)，(q3，q2)，(q2，q1) W ═ W for weighted adjacency matrixij]. If (q)i，qj) E, then w ij1, otherwise w ij0. In the simulation process, the fixed-wing drone 1 may be set to receive the status information of the virtual leader, and then the receiving relationships between the virtual leader and the fixed-wing drones 1 to 4 may be respectively represented as k1c＝1、k2c＝0、k3c＝0、k4c＝0， k ic1 means that information can be transferred from the virtual leader to the fixed-wing drone i, kicNot equal to 1 indicates that information cannot be transferred from the virtual leader to the fixed-wing drone i. As shown in fig. 4 and 5, at the start of the mission, 4 fixed-wing drones are present in oneRhombic vertical takeoff, then changing a formation form from a rhombic form into a straight form to keep stable flight in the transition process of a flight mode from vertical flight to horizontal flight, so that switching time can be saved, flight resistance in horizontal flight is reduced, finally, the formation form advances in a 'herringbone' manner in the same plane, step 106 calculates a motion scene model, obtains a three-dimensional flight track in the takeoff to stable flight process as shown in figure 5, obtains a speed response as shown in figures 6(a) to 6(c), and obtains an attitude angle (comprising a rolling angle, a pitch angle and a yaw angle) response as shown in figures 7(a) to 7 (c). The method can quickly construct a motion scene when 4 fixed-wing unmanned aerial vehicles moving in the same plane form a small formation to stably advance, and calculate the target infrared radiation characteristics, the target positions and other information of the scene under different detection views. In order to realize accurate expression of the whole formation motion of the fixed-wing unmanned aerial vehicles at a specific time, a typical detection view angle can be selected, the shielding relation of each fixed-wing unmanned aerial vehicle is considered, the infrared radiation characteristic of a target under the detection view angle is calculated, and the target position information of each fixed-wing unmanned aerial vehicle is displayed. Step 108, considering the influences of the target and the environment balance and the sunlight condition and under the condition of the equivalent infrared radiation area which can be effectively detected in the visual direction, calculating the distribution of the medium wave and long wave infrared radiation values in the circumferential direction of the pitch angle along the longitudinal axis direction of the fixed-wing unmanned aerial vehicle body as shown in fig. 8(a), calculating the distribution of the medium wave and long wave infrared radiation values in the circumferential direction of the pitch angle as shown in fig. 8(b), and calculating the distribution of the medium wave and long wave infrared radiation values in the circumferential direction of the azimuth angle as shown in fig. 8 (c). Further, to demonstrate the multi-target occlusion relationship, partial typical view angle infrared images are obtained as shown in fig. 9(a) to 9 (c).
The method provided by the invention aims at formation group target modeling, associates a motion scene with characteristics, demonstrates formation fixed-wing unmanned aerial vehicle target infrared radiation distribution and infrared imaging under a typical scene, analyzes the characteristics of motion, distribution, form, differentiability and the like, and can acquire information of position, speed, attitude and the like of a multi-fixed-wing unmanned aerial vehicle in a motion process, so that accurate expression of formation motion of the whole fixed-wing unmanned aerial vehicle formation at a specific time is obtained, and the obtained specific parameters can be used for further analysis and research by a user.
The embodiment of the invention also provides electronic equipment which comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for representing the formation motion characteristic scene of the fixed-wing unmanned aerial vehicles in any embodiment of the invention is realized.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the processor is enabled to execute a method for characterizing a formation motion characteristic scene of fixed-wing unmanned aerial vehicles in any embodiment of the invention.
Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A method for representing a formation motion characteristic scene of fixed-wing unmanned aerial vehicles is characterized by comprising the following steps:
establishing a fixed-wing unmanned aerial vehicle coordinate system for each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles;
constructing a kinematic equation set and a kinetic equation set of the fixed-wing unmanned aerial vehicle based on the coordinate system, the acting force and the moment of the fixed-wing unmanned aerial vehicle;
constructing a communication topological structure of the formation of the fixed-wing unmanned aerial vehicles according to the communication relation among the fixed-wing unmanned aerial vehicles;
calculating a motion scene model of the formation of the fixed-wing unmanned aerial vehicles changing along with time based on the obtained communication topological structure, the kinematics equation set and the dynamics equation set;
and calculating the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles based on the motion scene model and the preset sunshine condition.
2. The method of claim 1,
the establishment of the fixed-wing drone coordinate system includes:
establishing a ground inertial coordinate system which is immovable relative to the earth surface, wherein the origin of the ground inertial coordinate system is at one point on the earth surface, the X axis is positioned in the horizontal plane and points to a preset fixed direction, the Z axis is perpendicular to the ground plane and points to the geocentric, and the Y axis is determined by the right-hand rule;
establishing a body coordinate system fixed on a body of the fixed-wing unmanned aerial vehicle, wherein the origin of the body coordinate system is at the gravity center of the fixed-wing unmanned aerial vehicle, the X axis is consistent with the longitudinal axis of the body of the fixed-wing unmanned aerial vehicle and points to the direction of the head of the fixed-wing unmanned aerial vehicle, the Y axis is perpendicular to the longitudinal symmetry plane of the fixed-wing unmanned aerial vehicle and points to the right side of the body of the fixed-wing unmanned aerial vehicle, and the Z axis is located in the longitudinal symmetry plane of the fixed-wing unmanned aerial vehicle, perpendicular to the longitudinal axis of the fixed-wing unmanned aerial vehicle and points to the lower side of the body of the fixed-wing unmanned aerial vehicle;
the method comprises the steps of establishing a speed coordinate system fixed on a fixed wing unmanned aerial vehicle body, wherein the original point of the speed coordinate system is at the center of gravity of the fixed wing unmanned aerial vehicle, the X axis points to the speed vector direction of the fixed wing unmanned aerial vehicle relative to air, the Z axis is positioned in the longitudinal symmetry plane of the fixed wing unmanned aerial vehicle, the Z axis is perpendicular to the speed vector direction and points to the lower portion of the body of the fixed wing unmanned aerial vehicle, and the Y axis is perpendicular to the X axis and the Z axis and points to the right portion of the body of the fixed wing unmanned aerial vehicle.
3. The method of claim 2,
the kinematic equation set comprises a centroid position equation and an Euler angle equation; wherein the expression of the centroid position equation is:
Figure FDA0003530330520000021
the expression of the euler angle equation is as follows:
Figure FDA0003530330520000022
Figure FDA0003530330520000023
Figure FDA0003530330520000024
wherein
Figure FDA0003530330520000025
Respectively represent xg、yg、zgFirst derivative of (a), xg、yg、zgRespectively represent the position coordinates of an X axis, a Y axis and a Z axis of the fixed-wing unmanned aerial vehicle under the ground inertial coordinate system, u, V and w respectively represent the components of the flying speed V of the fixed-wing unmanned aerial vehicle in the directions of the X axis, the Y axis and the Z axis of the body coordinate system,
Figure FDA0003530330520000026
representing a rotation matrix; theta, psi and phi respectively represent a pitch angle, a yaw angle and a roll angle of the fixed-wing unmanned aerial vehicle, and p, q and r respectively represent components of a rotation angular speed omega of the body coordinate system of the fixed-wing unmanned aerial vehicle relative to the ground inertia coordinate system along an X axis, a Y axis and a Z axis of the body coordinate system;
the dynamic equation set comprises a centroid dynamic equation and a kinetic equation of rotation around the centroid; wherein the expression of the centroid kinetic equation is:
Figure FDA0003530330520000027
the expression of the kinetic equation of rotation around the centroid is as follows:
Figure FDA0003530330520000028
wherein Fx、Fy、FzRespectively representing the acting forces of the fixed-wing unmanned aerial vehicle in the X-axis direction, the Y-axis direction and the Z-axis direction under the body coordinate system, m representing the mass of the fixed-wing unmanned aerial vehicle, ax、ay、azRespectively representing the accelerations of the fixed wing unmanned aerial vehicle in the directions of the X axis, the Y axis and the Z axis under the body coordinate system, L, M, N respectively representing the moments of the fixed wing unmanned aerial vehicle in the directions of the X axis, the Y axis and the Z axis under the body coordinate system, Ix、Iy、IzRespectively representing the inertia moments I of the fixed-wing unmanned aerial vehicle to the X axis, the Y axis and the Z axis corresponding to the cross section under the body coordinate systemxzRespectively representing the inertia products of the corresponding cross section of the fixed-wing unmanned aerial vehicle to the X axis and the Z axis under the body coordinate system.
4. The method of claim 1,
according to the communication relation between each fixed wing unmanned aerial vehicle, construct the communication topological structure of fixed wing unmanned aerial vehicle formation, include:
numbering each fixed-wing unmanned aerial vehicle included in the formation of the fixed-wing unmanned aerial vehicles, wherein each number represents one fixed-wing unmanned aerial vehicle;
establishing a directed graph G (Q, E, W) according to the communication relation among the fixed-wing unmanned planes; wherein Q ═ { Q ═ Q1，q2，…，qnIs a non-empty point set, each point corresponds to a fixed-wing drone, the total number is n,
Figure FDA0003530330520000031
is a set of directed graph boundaries, W is a weighted adjacency matrix,
Figure FDA0003530330520000032
the information interaction in the directed graph is determined;
defining a Laplacian matrix of the directed graph G from a weighted adjacency matrix
Figure FDA0003530330520000033
5. The method of claim 4,
the method for calculating the motion scene model of the formation of the fixed-wing unmanned aerial vehicles changing along with time based on the obtained communication topological structure, the obtained kinematic equation set and the obtained dynamic equation set comprises the following steps:
setting a virtual leader and a mass center movement of the virtual leader from take-off to stable flight;
causing one fixed-wing drone in the communication topology to directly receive state information of the virtual leader;
and carrying out simulation calculation based on the communication topological structure, the kinematics equation set, the dynamics equation set and the mass center motion of the virtual leader to obtain the state parameters of each fixed wing unmanned aerial vehicle in the processes from take-off to stable flight.
6. The method of claim 5,
based on motion scene model and preset sunshine condition, calculate the infrared radiation characteristic of fixed wing unmanned aerial vehicle formation, include:
and (3) calculating the infrared radiation characteristic of the formation of the fixed-wing unmanned aerial vehicles by adopting MATLAB simulation based on the state parameters of the fixed-wing unmanned aerial vehicles and the preset sunshine conditions.
7. The method of claim 6,
adopt MATLAB simulation calculation fixed wing unmanned aerial vehicle formation's infrared radiation characteristic, include:
and calculating the integral infrared radiation value of the formation of the fixed-wing unmanned aerial vehicles under different visual direction angles at typical time.
8. The method of claim 6, further comprising:
and calculating the integral infrared imaging images of the formation of the fixed-wing unmanned aerial vehicles at different viewing angles at typical moments based on the motion scene model and the infrared radiation characteristics of the formation of the fixed-wing unmanned aerial vehicles.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when executing the computer program, implements the method according to any of claims 1-8.
10. A storage medium having stored thereon a computer program, characterized in that the computer program, when executed in a computer, causes the computer to execute the method of any of claims 1-8.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115639833A (en) * 2022-07-22 2023-01-24 成都飞机工业（集团）有限责任公司 Formation keeping control method for multi-unmanned aerial vehicle cooperative formation turning stage
CN117270574A (en) * 2023-11-20 2023-12-22 中国空气动力研究与发展中心计算空气动力研究所 Fixed wing unmanned aerial vehicle flight formation test method based on virtual target

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115639833A (en) * 2022-07-22 2023-01-24 成都飞机工业（集团）有限责任公司 Formation keeping control method for multi-unmanned aerial vehicle cooperative formation turning stage
CN117270574A (en) * 2023-11-20 2023-12-22 中国空气动力研究与发展中心计算空气动力研究所 Fixed wing unmanned aerial vehicle flight formation test method based on virtual target
CN117270574B (en) * 2023-11-20 2024-01-26 中国空气动力研究与发展中心计算空气动力研究所 Fixed wing unmanned aerial vehicle flight formation test method based on virtual target

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