CN115237000B - Unmanned aerial vehicle formation cooperative countermeasure simulation test platform and test method - Google Patents
Unmanned aerial vehicle formation cooperative countermeasure simulation test platform and test method Download PDFInfo
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Abstract
The system comprises a simulation platform, a simulation system, a collaborative countermeasure simulation master control system, a collaborative intelligent control system, a simulation system and a simulation system, wherein the simulation platform is provided with unmanned aerial vehicles and is used for generating semi-physical or simulation data of a test scene in real time through a heterogeneous platform semi-physical simulation system, generating a digital twin collaborative countermeasure scene through the collaborative countermeasure real-time simulation system, controlling the unmanned aerial vehicles/the unmanned aerial vehicles through the collaborative intelligent control system according to the data generated by the heterogeneous platform semi-physical simulation system, issuing overall decisions and carrying out overall coordination control through all systems of the formation collaborative countermeasure simulation master control system; the semi-physical or simulation data are input into the collaborative countermeasure real-time simulation system, the semi-physical signal is obtained by collecting the physical data, the feasibility of the test can be ensured, the simulation signal is obtained by collecting the model signal, the efficiency of the test can be ensured, the validity of the test and the feasibility of the on-board application are ensured, the test period is shortened, and the risk and the cost of the test are reduced.
Description
Technical Field
The application belongs to the technical field of semi-physical simulation, and particularly relates to a simulation test platform and a test method for cooperative antagonism of unmanned aerial vehicle formation.
Background
The unmanned aerial vehicle/unmanned aerial vehicle collaborative countermeasure system is a complex system integrating functions of multi-source heterogeneous data fusion, cross-platform collaborative sensor management, collaborative tactical decision, collaborative route planning, collaborative flight control, collaborative firepower striking and the like. The key links of research and development and verification of the unmanned/unmanned aerial vehicle cooperative countermeasure system are tests, and the perception capability and the recognition capability of the unmanned/unmanned aerial vehicle autonomous cooperative countermeasure situation are tested under the factors of different task scenes, countermeasure objects, sudden threats, weather, electromagnetic environments and the like, so that the control capability and the execution capability of the task system are improved, and more perfect cooperative perception, cooperative decision and cooperative control technology are obtained.
The simulation test platform for the cooperative countermeasure of the manned/unmanned aerial vehicle focuses on simulating various complex real scenes encountered by the cooperative countermeasure system of the manned/unmanned aerial vehicle in an actual task scene, and can be used for verifying and testing the correctness of a software algorithm for cooperative intelligent control, and the real-time performance and reliability of a new quality functional component in running in an actual environment. The ground test technology of the traditional airborne system comprises three modes of a test flight test, a ground physical test and a virtual simulation test. The test flight test and the ground physical test prove that the cooperative intelligent control risk is high, the cost is high, the efficiency is low, the test resources are difficult to simulate various different scenes, and the safety problem possibly caused by uncontrollable test conditions is also faced. The virtual simulation test has low cost and high efficiency and can simulate various task scenes, but is difficult to verify the feasibility of running in a real-world environment.
Therefore, a virtual-real combination test method needs to be studied, and the respective advantages of the virtual test and the real test are fused.
Disclosure of Invention
The purpose of the application is to provide a collaborative countermeasure simulation test platform with unmanned aerial vehicle formation and a test method, so as to solve the problem that the advantages of a physical test and a virtual simulation test are difficult to be simultaneously considered in the prior art.
The technical scheme of the application is as follows: a co-combat simulation test platform for unmanned aerial vehicle formation, comprising: the heterogeneous platform semi-physical simulation system is used for simulating all the cooperative countermeasure test scenes of the unmanned/unmanned aerial vehicle and generating semi-physical or digital simulation data of the test scenes in real time; the collaborative countermeasure real-time simulation system is used for generating a digital twin collaborative countermeasure scene according to real-time data of the heterogeneous platform semi-physical simulation system; the collaborative intelligent control system is used for controlling the unmanned/unmanned aerial vehicle according to the data generated by the heterogeneous platform semi-physical simulation system; the formation collaborative countermeasure simulation master control system is used for issuing overall layout and performing overall coordination control on the heterogeneous platform semi-physical simulation system, the collaborative countermeasure real-time simulation system and the collaborative intelligent control system; the formation collaborative countermeasure simulation master control system respectively sends overall layout instructions to the heterogeneous platform semi-physical simulation system, the collaborative countermeasure real-time simulation system and the collaborative intelligent control system, the collaborative countermeasure real-time simulation scene is a simulation scene required by a layout test according to the overall layout instructions, the collaborative intelligent control system outputs specific task instructions of the people/unmanned aerial vehicles to the heterogeneous platform semi-physical simulation system according to the overall layout instructions, the heterogeneous platform semi-physical simulation system outputs digital or semi-physical simulation data of the people/unmanned aerial vehicles to the collaborative countermeasure real-time simulation system according to the specific overall layout instructions, so that the people/unmanned aerial vehicles in the collaborative countermeasure real-time simulation system execute the tasks, the heterogeneous platform semi-physical simulation system acquires data information when the people/unmanned aerial vehicles execute the tasks in real time and uploads the data information to the collaborative intelligent control system, and the collaborative intelligent control system determines next task instructions of the people/unmanned aerial vehicles according to the feedback information.
Preferably, the system further comprises a visual simulation system, wherein the visual simulation system is used for receiving semi-physical or digital simulation data from the collaborative countermeasure real-time simulation system to generate a simulation picture.
Preferably, the visual simulation system comprises a model building module, a simulation picture generating module and a configuration interface building module; the model building module is used for building a three-dimensional geometrical model and a terrain scene model of the unmanned/unmanned aerial vehicle, the simulation picture generation module is used for generating a simulation picture by utilizing an application programming interface function and calling the built model, and the configuration interface building module is used for managing and controlling the starting, closing and initial state of the simulation scene by utilizing an engineering construction configuration interface.
Preferably, the collaborative countermeasure simulation master control system comprises a weapon force simulation deployment module, a test task planning module, a test process control module and a system time synchronization module; the weapon force simulation deployment module is used for generating a friend or foe weapon force configuration and weapon force deployment according to test requirements, and the test task planning module is used for carrying out test task scene planning and test task deployment; the test process control module is used for acquiring test processes of the heterogeneous platform semi-physical simulation system, the cooperative countermeasure real-time simulation system and the cooperative intelligent control system in real time and determining the next action of a test according to the current test process; the system time synchronization module is used for broadcasting the system time synchronization to the heterogeneous platform semi-physical simulation system, the collaborative countermeasure real-time simulation system and the collaborative intelligent control system, and guaranteeing the time synchronization of the systems.
Preferably, the experimental task scene plan includes geographic information, atmospheric environment information, electromagnetic environment information, task areas, task targets and manned/unmanned aerial vehicle platform attributes, initial positions, task routes and command relationship information.
Preferably, the collaborative countermeasure real-time simulation system comprises a task scene and an excitation model, wherein the task scene is used for verifying the identification and processing capabilities of the collaborative intelligent control system on information such as tasks, formation, situations and the like, and the excitation model is used for verifying the capabilities of the collaborative intelligent control system for processing emergencies such as sudden threats, link faults and the like.
Preferably, the task scenario comprises a simulated manned/unmanned model, a geographic model, a marine model, and a weather model; the excitation models include bursty air, ground threat target models, and electromagnetic models.
Preferably, the heterogeneous platform semi-physical simulation system comprises a semi-physical simulation system and a digital simulation system, wherein the semi-physical simulation system comprises a flight control system, an embedded task processing system, a radar simulation system, a photoelectric simulation system, an electronic war simulation system, a data chain simulation system and an emission simulation system, and is used for simulation and test of unmanned plane system function operation under the real installation condition; the digital simulation system comprises a flight control model, virtual task processing, a virtual radar, a virtual photoelectric device, a virtual electronic warfare, a virtual data chain, a virtual emission object, a virtual cabin and a man-machine interaction interface.
Preferably, the collaborative intelligent control system comprises a collaborative sensing unit, a collaborative decision-making unit and a collaborative control unit, wherein the collaborative sensing unit is used for the information data fusion of the multi-source heterogeneous sensors and the collaborative management of the formation sensors, the collaborative decision-making unit receives the information processed by the collaborative sensing unit and makes collaborative tactical decisions, and the collaborative control unit gives corresponding sensor control, flight control and emission overall layout instructions according to the collaborative tactical decisions and sends the corresponding sensor control, flight control and emission overall layout instructions to the heterogeneous platform semi-physical simulation system.
As a specific embodiment, a method for collaborative countermeasure simulation test with unmanned aerial vehicle formation includes: the system comprises a formation cooperative countermeasure simulation master control system and a cooperative intelligent control system, wherein the formation cooperative countermeasure simulation master control system is connected with an API (application program interface) provided by the platform, and is used for carrying out the configuration of the force of the friend or foe in a cooperative countermeasure test task scene, the deployment of the force of the friend or foe, the task target, an initial route and a task area planning, and setting platform flight control model parameters, sensor configuration and system parameters and projectile configuration and system parameters in a manned/unmanned aerial vehicle heterogeneous platform semi-physical simulation system according to requirements; the collaborative countermeasure real-time simulation system generates virtual collaborative countermeasure scenes required by the test from the semi-physical simulation system and the digital simulation system, and loads the virtual collaborative countermeasure scenes into the heterogeneous platform semi-physical simulation system to generate a manned/unmanned plane platform; the visual simulation system establishes a battlefield three-dimensional simulation scene according to the data of the collaborative countermeasure real-time simulation system; the virtual sensors of all the platforms acquire battlefield situation information from a virtual cooperative countermeasure scene, and a sensing unit in a cooperative intelligent control system fuses and processes the information of different sensors and performs cooperative management and control on the virtual sensors of all the platforms; the decision unit of the collaborative intelligent control system obtains burst threat information according to the self position, posture, speed, heading, task targets, sensor states, data link states and emission states of each platform and the battlefield situation information processed by the sensing unit, and makes collaborative tactical decisions; the control unit of the collaborative intelligent control system generates a general layout instruction of collaborative flight control, collaborative anti-interference and collaborative firepower striking of the manned/unmanned aerial vehicle platform according to collaborative tactical decision, controls tactical task execution of the manned/unmanned aerial vehicle, and collects flight parameters and state information of each platform at the current moment; the heterogeneous platform semi-physical simulation system calculates platform working parameters such as a task target, a flight route, a sensor working parameter, a launching state and the like of the manned/unmanned aerial vehicle platform at the next moment according to the overall layout instruction, and sends the platform working parameters to the collaborative countermeasure real-time simulation system; the collaborative countermeasure real-time simulation system updates a collaborative countermeasure scene according to feedback of the heterogeneous platform semi-physical simulation system; the visual simulation system updates and displays the three-dimensional simulation scene, repeatedly generates a virtual cooperative countermeasure scene and a manned/unmanned plane platform, and performs cooperative countermeasure; and the collaborative countermeasure real-time simulation system generates a result process file of the collaborative countermeasure test of the man/unmanned aerial vehicle, analyzes whether the collaborative tactical decision and the collaborative control of the collaborative intelligent control system meet the requirements, and if yes, the test is ended.
According to the unmanned aerial vehicle formation collaborative countermeasure simulation test platform, semi-physical or simulation data of a test scene are generated in real time through a heterogeneous platform semi-physical simulation system, a digital twin collaborative countermeasure scene is generated through a collaborative countermeasure real-time simulation system, a collaborative intelligent control system controls a person/unmanned aerial vehicle according to the data generated by the heterogeneous platform semi-physical simulation system, and overall decision making and overall coordination control are issued through various systems of a formation collaborative countermeasure simulation master control system; the semi-physical or simulation data are input into the collaborative countermeasure real-time simulation system, the semi-physical signal is obtained by collecting the physical data, the feasibility of the test can be ensured, the simulation signal is obtained by collecting the model signal, the efficiency of the test can be ensured, the validity of the test and the feasibility of the on-board application are ensured, the test period is shortened, and the risk and the cost of the test are reduced.
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In order to more clearly illustrate the technical solutions provided by the present application, the following description will briefly refer to the accompanying drawings. It will be apparent that the figures described below are only some embodiments of the present application.
Fig. 1 is a schematic diagram of the overall structure of the present application.
1. The formation collaborative countermeasure simulation master control system; 2. a cooperative intelligent control system; 3. a heterogeneous platform semi-physical simulation system; 4. a collaborative countermeasure real-time simulation system; 5. a visual simulation system.
Detailed Description
In order to make the purposes, technical solutions and advantages of the implementation of the present application more clear, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application.
The unmanned aerial vehicle/unmanned aerial vehicle collaborative countermeasure simulation test platform has the advantages that the semi-physical simulation system is combined with the digital simulation system, the virtual-real combined unmanned aerial vehicle/unmanned aerial vehicle collaborative countermeasure simulation environment is provided, and the feasibility of a physical test and the high efficiency of a virtual test are checked.
The system comprises a heterogeneous platform semi-physical simulation system 3, a cooperative countermeasure simulation system, a cooperative intelligent control system 2 and a formation cooperative countermeasure simulation master control system 1.
The heterogeneous platform semi-physical simulation system 3 is used for simulating all collaborative countermeasure test scenes of the unmanned/unmanned aerial vehicle and generating semi-physical or digital simulation data of the test scenes in real time; the collaborative countermeasure real-time simulation system 4 is used for generating a digital twin collaborative countermeasure scene according to real-time data of the heterogeneous platform semi-physical simulation system 3; the cooperative intelligent control system 2 is used for controlling the unmanned/unmanned aerial vehicle according to the data generated by the heterogeneous platform semi-physical simulation system 3; the formation cooperative countermeasure simulation master control system 1 is used for issuing overall layout and performing overall coordination control on the heterogeneous platform semi-physical simulation system 3, the cooperative countermeasure real-time simulation system 4 and the cooperative intelligent control system 2.
The formation cooperative countermeasure simulation master control system 1 respectively sends overall layout instructions, such as weapon force data, simulation countermeasure starting time, test task selection and the like of both sides of a friend and foe, to the heterogeneous platform semi-physical simulation system 3, the cooperative countermeasure real-time simulation system 4 and the cooperative intelligent control system 2, the cooperative countermeasure real-time simulation scene lays simulation scenes required by a test according to the overall layout instructions, the cooperative intelligent control system 2 outputs specific task instructions of the person/unmanned aerial vehicle to the heterogeneous platform semi-physical simulation system 3 according to the overall layout instructions, the heterogeneous platform semi-physical simulation system 3 outputs digital or semi-physical simulation data of the person/unmanned aerial vehicle to the cooperative countermeasure real-time simulation system 4 according to the specific overall layout instructions, so that the person/unmanned aerial vehicle in the cooperative countermeasure real-time simulation system 4 executes the task, the heterogeneous platform semi-physical simulation system 3 acquires data information when the person/unmanned aerial vehicle executes the task in real time and uploads the data information to the cooperative intelligent control system 2, and the cooperative intelligent control system 2 determines a task instruction of the person/unmanned aerial vehicle in the next step according to the feedback information.
According to the method, the heterogeneous platform semi-physical simulation system 3 is designed simultaneously, semi-physical or simulation data are input into the collaborative countermeasure real-time simulation system 4, the semi-physical signals are obtained through collecting the physical data, the feasibility of a test can be guaranteed, the simulation signals are obtained through collecting model signals, the efficiency of the test can be guaranteed, the effectiveness of the test and the feasibility of the airborne application are guaranteed, the test period is shortened, and the risk and cost of the test are reduced.
Preferably, the system further comprises a visual simulation system 5, and the visual simulation system 5 is used for receiving semi-physical or digital simulation data from the collaborative countermeasure real-time simulation system 4 to generate a simulation picture. The staff can observe the cooperative countermeasure scene in real time through the visual simulation system 5.
Preferably, the visual simulation system 5 comprises a model building module, a simulation picture generating module and a configuration interface building module; the model building module is used for building a three-dimensional geometrical model and a terrain scene model of the unmanned/unmanned aerial vehicle by using software such as UE4, the simulation picture generation module is used for generating a simulation picture by using an API (Application Programming Interface) and calling an application programming interface function to build the model, the configuration interface building module is used for building a configuration interface by using Qt engineering to manage and control the starting, closing and initial states of the simulation scene, and the three modules take part in generating or controlling the model or picture required by real-time simulation.
Preferably, the cooperative countermeasure simulation master control system comprises a force simulation deployment module, a test task planning module, a test process control module and a system time synchronization module; the weapon force simulation deployment module is used for generating a friend or foe weapon force configuration and weapon force deployment according to the test requirements, and the test task planning module is used for carrying out test task scene planning and test task deployment; the test process control module is used for acquiring test processes of the heterogeneous platform semi-physical simulation system 3, the cooperative countermeasure real-time simulation system 4 and the cooperative intelligent control system 2 in real time and determining the next action of a test according to the current test process, wherein the next action comprises commands such as start, stop, pause and end of a task; the system time synchronization module is used for broadcasting the system time synchronization to the heterogeneous platform semi-physical simulation system 3, the cooperative countermeasure real-time simulation system 4 and the cooperative intelligent control system 2, and guaranteeing the time synchronization of the systems.
Preferably, the test mission scenario plan includes geographic information, atmospheric environmental information, electromagnetic environmental information, mission areas, mission target and manned/unmanned aerial vehicle platform attributes, initial location, mission course, and command relationship information.
Preferably, the cooperative antagonism real-time simulation system 4 includes a task scenario for verifying the ability of the cooperative intelligent control system 2 to identify and process information such as tasks, formation, situation, etc., and an excitation model for verifying the ability of the cooperative intelligent control system 2 to process emergencies such as sudden threats, link failures, etc. Meanwhile, a simulation sensor module is arranged in the intelligent control system and used for monitoring the collaborative countermeasure process in real time, monitoring data are sent into the collaborative intelligent control system 2 through the heterogeneous platform semi-physical simulation system 3, and the collaborative intelligent control system 2 generates a next task decision according to the monitoring data of the sensor.
Preferably, the task scenario includes a simulated manned/unmanned model, a geographic model, a marine model, and a weather model; excitation models include bursty air, ground threat target models, and electromagnetic models.
Preferably, the heterogeneous platform semi-physical simulation system 3 comprises a semi-physical simulation system and a data simulation system, wherein the semi-physical simulation system comprises a flight control system, an embedded task processing system, a radar simulation system, a photoelectric simulation system, an electronic war simulation system, a data chain simulation system and an emission simulation system, and is used for simulation and test of unmanned plane system function operation under the real installation condition; the sensor simulation system includes; the embedded task processing system receives the overall layout instruction of the task and sends the calculated battlefield situation information, formation state information and flight state information to the cooperative intelligent control system 2; the digital simulation system comprises a flight control model, virtual task processing, a virtual radar, a virtual photoelectric device, a virtual electronic warfare, a virtual data chain, a virtual emission object, a virtual cabin and a man-machine interaction interface. Because the semi-physical simulation system and the data simulation system are different systems, the time synchronization is difficult to realize by adopting a conventional method, and the time synchronization is broadcasted into the semi-physical simulation system and the data simulation system through the system time synchronization module, so that the time synchronization of the semi-physical simulation system and the data simulation system can be effectively ensured. The data simulation system or the semi-physical simulation system generates a simulation sensor required for collaborative countermeasure monitoring.
Preferably, the collaborative intelligent control system 2 comprises a collaborative sensing unit, a collaborative decision-making unit and a collaborative control unit, wherein the collaborative sensing unit is used for the information data fusion of the multi-source heterogeneous sensors and the collaborative management of the formation sensors, the collaborative decision-making unit receives the information processed by the collaborative sensing unit and makes collaborative tactical decisions, such as commands of cruising, attacking a target area and the like, and the collaborative control unit gives corresponding sensor control, flight control and overall emission layout instructions according to the collaborative tactical decisions and sends the commands to the heterogeneous platform semi-physical simulation system 3.
Has the following advantages: 1. the traditional semi-physical test platform is replaced by combining virtual numerical simulation and semi-physical simulation, so that the validity of the test and the feasibility of on-board application are ensured, the test period is shortened, and the risk and the cost of the test are reduced.
2. The test task scene information can be driven by the real test flight information, so that the defect that the virtual scene is not real enough is overcome, the practicality and diversity of the test are ensured by combining with the semi-physical test platform, and the reliability of the collaborative intelligent algorithm real-installation application is verified.
3. The virtual-real combined test can run continuously for a long time, so that the test speed is greatly improved, and the cost of manpower and material resources is saved.
As a specific embodiment, the method further comprises a simulation test method for the cooperative antagonism of unmanned aerial vehicle formation, which comprises the following steps:
step S100, a formation cooperative countermeasure simulation master control system 1 and a cooperative intelligent control system 2 are accessed into the system through an API provided by the platform, and the formation cooperative countermeasure simulation master control system 1 is used for carrying out the configuration of the forces of the enemy and the forces of the arms, the deployment of the forces of the arms, the task targets, the initial route and the planning of a task area in a cooperative countermeasure test task scene, and platform flight control model parameters, sensor configuration and system parameters and emission configuration and system parameters are set in a manned/unmanned aerial vehicle heterogeneous platform semi-physical simulation system 3 according to requirements;
step S200, the collaborative countermeasure real-time simulation system 4 generates virtual collaborative countermeasure scenes required by the test from the semi-physical simulation system and the digital simulation system, and loads the virtual collaborative countermeasure scenes into the heterogeneous platform semi-physical simulation system 3 to generate a manned/unmanned plane platform;
step S300, the visual simulation system 5 establishes a battlefield three-dimensional simulation scene according to the data of the cooperative countermeasure real-time simulation system 4;
step S400, each platform virtual sensor collects battlefield situation information from a virtual cooperative countermeasure scene, and a sensing unit in the cooperative intelligent control system 2 fuses and processes information of different sensors, and performs cooperative management and control on each platform virtual sensor;
step S500, a decision unit of the collaborative intelligent control system 2 obtains burst threat information according to the self position, posture, speed, heading, task targets, sensor states, data link states and emission states of each platform and the battlefield situation information processed by the sensing unit, and makes collaborative tactical decisions;
step S600, the control unit of the cooperative intelligent control system 2 generates a cooperative flight control, cooperative anti-interference and cooperative firepower striking overall layout instruction of the platforms of the manned/unmanned aerial vehicle according to the cooperative tactical decision, controls tactical task execution of the unmanned/unmanned aerial vehicle, and collects flight parameters and state information of each platform at the current moment;
step S700, the heterogeneous platform semi-physical simulation system 3 calculates platform working parameters such as a task target, a flight route, sensor working parameters, a projectile state and the like of the unmanned/unmanned plane platform at the next moment according to the overall layout instruction, and sends the platform working parameters to the collaborative countermeasure real-time simulation system 4;
step S800, the cooperative countermeasure real-time simulation system 4 updates the cooperative countermeasure scene according to the feedback of the heterogeneous platform semi-physical simulation system 3;
step S900, the visual simulation system 5 updates and displays the three-dimensional simulation scene, and repeats steps S200-S900 to perform cooperative countermeasure;
step S1000, the cooperative countermeasure real-time simulation system 4 generates a result process file of the cooperative countermeasure test of the man/unmanned aerial vehicle, analyzes whether the cooperative tactical decision and the cooperative control of the cooperative intelligent control system 2 meet the requirements, and if yes, the test is ended.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a have unmanned aerial vehicle formation to cooperate to fight simulation test platform which characterized in that includes:
the heterogeneous platform semi-physical simulation system (3) is used for simulating all the cooperative countermeasure test scenes of the unmanned/unmanned aerial vehicle and generating semi-physical or digital simulation data of the test scenes in real time;
the collaborative countermeasure real-time simulation system (4) is used for generating a digital twin collaborative countermeasure scene according to real-time data of the heterogeneous platform semi-physical simulation system (3);
the cooperative intelligent control system (2) is used for controlling the unmanned/unmanned aerial vehicle according to the data generated by the heterogeneous platform semi-physical simulation system (3);
the formation cooperative countermeasure simulation master control system (1) is used for issuing overall layout and performing overall coordination control on the heterogeneous platform semi-physical simulation system (3), the cooperative countermeasure real-time simulation system (4) and the cooperative intelligent control system (2);
the formation cooperative countermeasure simulation master control system (1) respectively sends overall layout instructions to the heterogeneous platform semi-physical simulation system (3), the cooperative countermeasure real-time simulation system (4) and the cooperative intelligent control system (2), the cooperative countermeasure real-time simulation scene lays simulation scenes required by experiments according to the overall layout instructions, the cooperative intelligent control system (2) outputs specific task instructions of the people/unmanned aerial vehicles to the heterogeneous platform semi-physical simulation system (3) according to the overall layout instructions, the heterogeneous platform semi-physical simulation system (3) outputs digital or semi-physical simulation data of the people/unmanned aerial vehicles to the cooperative countermeasure real-time simulation system (4) according to the specific overall layout instructions, so that the people/unmanned aerial vehicles in the cooperative countermeasure real-time simulation system (4) execute the tasks, the heterogeneous platform semi-physical simulation system (3) acquires data information when the people/unmanned aerial vehicles execute the tasks in real time and uploads the data information to the cooperative intelligent control system (2), and the cooperative intelligent control system (2) determines task instructions of the next step of the people/unmanned aerial vehicles according to the feedback information;
the heterogeneous platform semi-physical simulation system (3) comprises a semi-physical simulation system and a digital simulation system, wherein the semi-physical simulation system comprises a flight control system, an embedded task processing system, a radar simulation system, a photoelectric simulation system, an electronic war simulation system, a data chain simulation system and an emission simulation system, and is used for simulation and test of unmanned plane system function operation under the real installation condition; the digital simulation system comprises a flight control model, virtual task processing, a virtual radar, a virtual photoelectric device, a virtual electronic warfare, a virtual data chain, a virtual emission object, a virtual cabin and a man-machine interaction interface;
the collaborative intelligent control system (2) comprises a collaborative sensing unit, a collaborative decision-making unit and a collaborative control unit, wherein the collaborative sensing unit is used for multi-source heterogeneous sensor information data fusion and collaborative management of formation sensors, the collaborative decision-making unit receives information processed by the collaborative sensing unit and makes collaborative tactical decisions, and the collaborative control unit gives corresponding sensor control, flight control and emission overall layout instructions according to the collaborative tactical decisions and sends the corresponding sensor control, flight control and emission overall layout instructions to the heterogeneous platform semi-physical simulation system (3).
2. The unmanned aerial vehicle formation co-countermeasure simulation test platform of claim 1, wherein: the system also comprises a visual simulation system (5), wherein the visual simulation system (5) is used for receiving semi-physical or digital simulation data from the collaborative countermeasure real-time simulation system (4) and generating a simulation picture.
3. The unmanned aerial vehicle formation co-countermeasure simulation test platform of claim 2, wherein: the visual simulation system (5) comprises a model building module, a simulation picture generation module and a configuration interface building module; the model building module is used for building a three-dimensional geometrical model and a terrain scene model of the unmanned/unmanned aerial vehicle, the simulation picture generation module is used for generating a simulation picture by utilizing an application programming interface function and calling the built model, and the configuration interface building module is used for managing and controlling the starting, closing and initial state of the simulation scene by utilizing an engineering construction configuration interface.
4. The unmanned aerial vehicle formation co-countermeasure simulation test platform of claim 1, wherein: the formation collaborative countermeasure simulation master control system (1) comprises a weapon force simulation deployment module, a test task planning module, a test process control module and a system time synchronization module; the weapon force simulation deployment module is used for generating a friend or foe weapon force configuration and weapon force deployment according to test requirements, and the test task planning module is used for carrying out test task scene planning and test task deployment; the test process control module is used for acquiring test processes of the heterogeneous platform semi-physical simulation system (3), the cooperative countermeasure real-time simulation system (4) and the cooperative intelligent control system (2) in real time and determining the next action of a test according to the current test process; the system time synchronization module is used for broadcasting the system time synchronization to the heterogeneous platform semi-physical simulation system (3), the cooperative countermeasure real-time simulation system (4) and the cooperative intelligent control system (2) to ensure the time synchronization of the systems.
5. The unmanned aerial vehicle formation co-countermeasure simulation test platform of claim 4, wherein: the experimental task scene planning comprises geographic information, atmospheric environment information, electromagnetic environment information, task areas, task target and manned/unmanned aerial vehicle platform attributes, initial positions, task airlines and command relationship information.
6. The unmanned aerial vehicle formation co-countermeasure simulation test platform of claim 1, wherein: the collaborative countermeasure real-time simulation system (4) comprises a task scene and an excitation model, wherein the task scene is used for verifying the identification and processing capabilities of the collaborative intelligent control system (2) on tasks, formations and situations, and the excitation model is used for verifying the capability of the collaborative intelligent control system (2) for processing sudden threats and link faults.
7. The unmanned aerial vehicle formation co-countermeasure simulation test platform of claim 6, wherein: the task scene comprises a simulation manned/unmanned aerial vehicle model, a geographic model, a marine model and a weather model; the excitation models include bursty air, ground threat target models, and electromagnetic models.
8. A simulation test method for cooperative antagonism of unmanned aerial vehicle formation, which adopts the simulation test platform as set forth in any one of claims 1 to 7, and is characterized by comprising:
the system comprises a formation cooperative countermeasure simulation master control system (1) and a cooperative intelligent control system (2), wherein the formation cooperative countermeasure simulation master control system (1) is used for performing the configuration of the forces of the enemy in a cooperative countermeasure test task scene, the deployment of the forces of the arms, a task target, an initial route and a task area planning through the formation cooperative countermeasure simulation master control system (1), and platform flight control model parameters, sensor configuration and system parameters and emission configuration and system parameters are set in a manned/unmanned aerial vehicle heterogeneous platform semi-physical simulation system (3) according to requirements;
the collaborative countermeasure real-time simulation system (4) generates virtual collaborative countermeasure scenes required by the test from the semi-physical simulation system and the digital simulation system, and loads the virtual collaborative countermeasure scenes into the heterogeneous platform semi-physical simulation system (3) to generate a manned/unmanned plane platform;
the visual simulation system (5) establishes a battlefield three-dimensional simulation scene according to the data of the collaborative countermeasure real-time simulation system (4);
the virtual sensors of all the platforms acquire battlefield situation information from a virtual cooperative countermeasure scene, the information of different sensors is processed in a fusion way by a sensing unit in a cooperative intelligent control system (2), and the virtual sensors of all the platforms are cooperatively managed and controlled;
the decision unit of the collaborative intelligent control system (2) obtains burst threat information according to the self position, posture, speed, heading and task target of each platform, sensor state, data link state and emission state and combines battlefield situation information processed by the sensing unit to make collaborative tactical decision;
the control unit of the cooperative intelligent control system (2) generates a cooperative flight control, cooperative anti-interference and cooperative firepower striking overall layout instruction of the manned/unmanned aerial vehicle platform according to a cooperative tactical decision, controls tactical task execution of the manned/unmanned aerial vehicle, and collects flight parameters and state information of each platform at the current moment;
the heterogeneous platform semi-physical simulation system (3) calculates a task target, a flight route, a sensor working parameter and a projectile state of the manned/unmanned aerial vehicle platform at the next moment according to the overall layout instruction, and sends the task target, the flight route, the sensor working parameter and the projectile state to the collaborative countermeasure real-time simulation system (4);
the collaborative countermeasure real-time simulation system (4) updates a collaborative countermeasure scene according to feedback of the heterogeneous platform semi-physical simulation system (3);
the visual simulation system (5) updates and displays the three-dimensional simulation scene, repeatedly generates a virtual cooperative countermeasure scene and a manned/unmanned plane platform, and performs cooperative countermeasure;
and the cooperative countermeasure real-time simulation system (4) generates a result process file of the cooperative countermeasure test of the man/unmanned aerial vehicle, analyzes whether the cooperative tactical decision and the cooperative control of the cooperative intelligent control system (2) meet the requirements, and if yes, the test is ended.
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| CN117389159A (en) * | 2023-12-11 | 2024-01-12 | 中国科学院长春光学精密机械与物理研究所 | Unmanned aerial vehicle cluster cooperation intelligent platform based on multiple agents and simulation method |
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