CN115540679A

CN115540679A - Guided weapon simulation terminal and method

Info

Publication number: CN115540679A
Application number: CN202210101132.8A
Authority: CN
Inventors: 陈薪羽; 陈晓东
Original assignee: Beijing Shuyun Chuangke Technology Co ltd
Current assignee: Beijing Shuyun Chuangke Technology Co ltd
Priority date: 2022-01-27
Filing date: 2022-01-27
Publication date: 2022-12-30

Abstract

The embodiment of the invention provides a guided weapon simulation terminal and a guided weapon simulation method. The method comprises the steps of pairing with an individual soldier universal data terminal, acquiring fire control operation information after successful pairing, generating a transmitting instruction, and executing simulated transmission; acquiring position information, time information, a roll angle, a pitch angle and a course angle during simulated launching, calculating the position and the direction of a launching port, and calculating the flight trajectory of the missile according to the position and the direction of the launching port and the missile seed information; simulating and displaying the flight trajectory of the current missile; and acquiring adjustment operation information, calculating the flight trajectory and trajectory of the missile after simulation adjustment according to the adjustment operation information, and performing simulation display. In this way, the training process of the guided weapon can be realized, the missile shooting is simulated, the image presented in the missile flight process is observed in real time, the adjustment operation is simulated, and the striking of a simulation target is realized; and the accuracy and the usability of the data are improved by real-time communication with the central data processing center.

Description

Guided weapon simulation terminal and method

Technical Field

Embodiments of the present invention generally relate to the field of weapon simulation, and more particularly, to a guided weapon simulation terminal and simulation method.

Background

Military training is a method for improving the operational skills of a soldier in a skilled operational weapon, but the live ammunition light weapon can only be realized through a military simulation training process because of the killing property. It is necessary to create a virtual station environment to allow trainees to visually and aurally experience the battlefield environment and become familiar with the environmental characteristics of the area to be battled. Weapon simulation terminals are an indispensable ring in the virtual yard.

However, for wired guided weapons, the existing simulated weapons cannot simulate a real missile to shoot out, and the missile cannot be controlled in a simulated aiming guidance or television guidance mode, so that the simulated training of the guided weapons cannot be realized.

Disclosure of Invention

According to an embodiment of the invention, a guided munition simulation scheme is provided.

In a first aspect of the invention, a guided munition simulation terminal is provided. The analog terminal includes:

the efficiency simulator is arranged on the gun body of the guided weapon through a mounting piece;

the directional rod is arranged on the barrel of the guided weapon through the mounting piece, so that the efficiency simulator is arranged at one end of the directional rod; the direction of the directional rod is consistent with the direction of the muzzle of the guided weapon;

the positioning equipment is arranged at the other end of the orientation rod;

the efficiency simulator comprises a wired guidance simulation component; the wired guidance simulation assembly comprises:

the first main control module is used for receiving the position information and the time information of the current analog terminal sent by the first positioning time service module and sending the position information and the time information to the first antenna module; the attitude and heading determining module is also used for receiving a roll angle and a pitch angle sent by the attitude determining module and a heading angle sent by the orientation module; the system is also used for sending a pairing instruction to the body area network module; the fire control system is also used for receiving fire control operation information, generating a transmitting instruction or an adjusting instruction according to the fire control operation information, transmitting the transmitting instruction or the adjusting instruction to the first antenna module, and transmitting the transmitting instruction to the transmitting simulation module for transmitting simulation;

the first positioning time service module is used for acquiring position information and time information through a Beidou satellite positioning system and sending the position information and the time information to the first main control module;

the attitude determination module is used for acquiring a roll angle and a pitch angle through a six-axis attitude sensor and sending the roll angle and the pitch angle to the first main control module;

the orientation module is used for acquiring the position information of the positioning equipment and the first positioning time service module, determining a course angle and sending the course angle to the first main control module;

the body area network module is used for receiving the pairing instruction of the first main control module and sending the pairing instruction to the individual soldier universal data terminal in the body area network through Bluetooth for pairing;

the first antenna module is used for uploading the position information and the time information of the current analog terminal to the server; the system is also used for uploading the transmitting instruction or the adjusting instruction to a server; the server is also used for receiving the simulation display information sent by the server and sending the simulation display information to the simulation display module;

the transmission simulation module responds to a transmission instruction of the first main control module and executes simulation transmission according to the transmission instruction; the emission instruction comprises bullet seed information pitch angle, roll angle and target position information; the adjusting instruction comprises the following steps: adjusting the operation information;

the fire control information acquisition module is used for acquiring fire control operation information and sending the fire control operation information to the first main control module;

the analog display module is used for receiving analog display information sent by the first antenna module and performing analog display on analog display equipment; the simulation display information comprises flight track and trajectory information of the emergent missile;

the positioning device comprises a positioning component; the positioning assembly, comprising:

the second main control module is used for sending the position information and the time information of the positioning equipment sent by the second positioning time service module to the second antenna module;

the second positioning and time service module is used for acquiring the position information and the time information of the positioning equipment through the Beidou satellite positioning system and sending the position information and the time information to the second main control module;

and the second antenna module is used for uploading the position information and the time information of the positioning equipment to the server.

Further, the system also comprises a scene simulation module; the scene simulation module is used for responding to the scene simulation signal of the first main control module and simulating the scene; the scene simulation module comprises:

a sound scene simulation circuit for simulating the attack sound and the environmental sound according to the sound simulation signal in the scene simulation signal; and/or

The light and shadow scene simulation circuit is used for driving the strong light source according to the light simulation signal in the scene simulation signal and simulating the light and shadow during firing; and/or

And the smoke scene simulation circuit is used for simulating smoke during firing according to the smoke simulation signal in the scene simulation signal.

The ammunition feeding system further comprises one or more of an audio and video acquisition module, a data management module, a power management module, an information prompt module and an ammunition feeding module;

the audio and video acquisition module responds to a power-on signal and/or an acquisition signal of the first main control module, continuously acquires environmental sound data and video data, and sends the acquired audio and video data to the data management module;

the audio and video acquisition module comprises:

the audio acquisition circuit acquires audio signals through a microphone, amplifies the audio signals and performs A/D sampling to obtain environmental sound data;

the video acquisition interface circuit acquires video signals through a camera to obtain environment video data;

the data management module is used for receiving the audio and video data sent by the audio and video acquisition module, the transmitting instruction and the adjusting instruction sent by the first main control module and the analog display information sent by the first antenna module, compressing the data and storing and backing up the compressed data; the data management module also responds to a data calling instruction sent by the first main control module and sends the correspondingly stored data to the first main control module;

the power management module supplies power to the analog terminal by arranging a battery module; the method comprises the steps that an electric quantity monitoring module is arranged, the electric quantity of a battery module is monitored in real time, and battery electric quantity information is sent to a first main control module and an information prompt module;

the battery module comprises a lithium battery pack, a lithium battery over-discharge protection board and an uninterrupted power supply module, wherein the lithium battery pack comprises a plurality of wide-temperature lithium batteries; the lithium battery over-discharge protection board comprises an overvoltage protection circuit and an overcurrent protection circuit, and performs overvoltage and overcurrent protection in the charging process; the uninterrupted power supply module comprises a standby battery, and the switching between the main battery and the standby battery is carried out through the uninterrupted power supply chipset circuit;

the electric quantity monitoring module comprises a lithium battery electric quantity measuring chip and is used for acquiring electric quantity information of the battery module;

the information prompting module is used for receiving ammunition allowance information sent by the main control module and electric quantity information sent by the power supply management module; the information prompt module comprises a key driving circuit and an LED indicating lamp circuit and is used for selecting ammunition seeds and displaying the ammunition residue information and electric quantity information;

the ammunition replenishing module responds to an ammunition replenishing instruction sent by the first main control module, acquires ammunition replenishing information from the ammunition replenishing equipment, updates the ammunition information according to the acquired ammunition replenishing information, and simulates ammunition replenishment, wherein the ammunition replenishing information comprises ammunition seed information and the number of ammunition.

Furthermore, the analog display device is a cable television guidance analog display screen or a cable viewing guidance analog display component;

the cable television guidance simulation display screen is used for displaying a missile flight real-time simulation video and the flight track trajectory information of the emergent missile;

the wired observing and aiming guidance simulation display component comprises a simulated tail flame light source, a simulated tail flame reflector and a simulation display window which are arranged on the wired observing and aiming guidance weapon;

the simulated tail flame light source is used for simulating missile tail flame light according to flight track trajectory information of the emergent missile;

the simulated tail flame reflector is used for reflecting guided missile tail flame light simulated by the simulated tail flame light source to the simulated display window;

and the simulation display window is used for displaying the missile flight real-time simulation video and the missile tail flame light.

In a second aspect of the invention, a guided munition simulation method is provided. The method comprises the following steps:

pairing with an individual soldier universal data terminal, acquiring fire control operation information after pairing is successful, generating a transmitting instruction, and executing simulated transmission; acquiring position information, time information, a roll angle, a pitch angle and a course angle during simulated launching, calculating the position and the direction of a launching port, and calculating the flight trajectory of the missile according to the position and the direction of the launching port and the missile seed information; simulating and displaying the flight trajectory of the current missile;

and acquiring adjustment operation information, calculating the flight trajectory of the simulated and adjusted missile according to the adjustment operation information, and performing simulation display on the flight trajectory of the simulated and adjusted missile.

Further, after a transmitting instruction is generated, whether the shell is filled in the shell pipe or not is judged, and if yes, simulated transmission is executed according to the transmitting instruction; otherwise the ammunition fails in simulated firing.

Further, the trajectory of the missile includes:

calculating the air resistance of the missile flight, comprising:

wherein C is an air resistance coefficient; ρ is the air density; s, the windward area of an object; v _t The relative movement speed of the missile and the air at the current moment;

calculating the acceleration generated by the air resistance in the z-axis direction according to the mass of the missile to obtain the flight trajectory of the missile, wherein the method comprises the following steps:

therein, Ψ _x As a function of the fraction of the missile projectile spread in the x-axis direction; Ψ _y Respectively, as a function of the fraction of the missile projectile spread in the y-axis; v ₀ The initial velocity of the missile; t is the time of flight; theta is the emergent angle of the missile, namely the included angle between the emergent direction and the horizontal plane; g is gravity acceleration; f (t) is air resistance in the z-axis direction; m is the missile mass; delta _x 、δ _y 、δ _z Influence coefficients of the spatial meteorological data in the directions of the x axis, the y axis and the z axis respectively; the direction of the z axis is the horizontal direction along the advancing direction of the missile, the direction of the y axis is the direction vertical to the horizontal plane, and the direction of the x axis is the direction vertical to the y-z plane.

Further, when analog transmission is performed, a scene analog signal is generated, and a scene is simulated;

the simulating the scene comprises:

simulating missile launching sound and environmental sound according to the sound simulation signal; and/or

Driving the strong light source according to the optical simulation signal, and simulating the light shadow when the missile is launched; and/or

And simulating the environmental smoke according to the smoke simulation signal.

Further, acquiring ammunition allowance information, generating an ammunition replenishment command if the current ammunition allowance is lower than the lowest allowance value, acquiring the ammunition replenishment information from the ammunition replenishment equipment, and performing ammunition replenishment simulation on the ammunition replenishment information according to the acquisition.

Further, still include:

and generating a real-time flight video of the current missile according to the current position information of the missile, and performing analog display on the real-time flight analog video of the current missile.

It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of any embodiment of the invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

The invention can simulate the training process of a wired viewing and aiming guidance or wired television guidance weapon, simulate the launching of a missile, observe the image presented in the flying process of the missile in real time, simulate the adjustment operation and realize the striking of a simulation target; and the accuracy and the usability of the data are improved by real-time communication with the central data processing center.

Drawings

The above and other features, advantages and aspects of various embodiments of the present invention will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters denote like or similar elements, and wherein:

FIG. 1 shows a block diagram of a guided munition simulation terminal according to an embodiment of the invention;

FIG. 2 illustrates a schematic diagram of a wired guidance simulation component of an efficacy simulator in accordance with an embodiment of the present invention;

FIG. 3 shows a schematic view of a positioning assembly of a positioning apparatus according to an embodiment of the invention;

FIG. 4 shows a schematic diagram of a wired guidance simulation component of an efficacy simulator in accordance with another embodiment of the present invention;

FIG. 5 illustrates a flow diagram of a guided munition simulation method according to an embodiment of the invention;

wherein, 1 is the efficiency simulator, 2 is the body of a gun, 3 is the installed part, 4 is the directional rod, 5 is the positioning device, 6 is the line and sees and aims the guidance simulation display module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely 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. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

According to the invention, the training process of a guided weapon, such as a cable viewing and aiming guidance or a cable television guided weapon, can be simulated, the launching of a guided missile is simulated, the image presented in the flying process of the guided missile is observed in real time, the adjustment operation is simulated, and the striking of a simulation target is realized; and the accuracy and the usability of the data are improved by real-time communication with the central data processing center.

As an embodiment of the present invention, optionally, the wired viewing and aiming guided weapon simulation terminal mainly includes a red arrow 8 anti-tambour channel simulation terminal, a red arrow 73C anti-tambour channel simulation terminal, and other weapons.

As an embodiment of the invention, the cable television guided weapon simulation terminal is mainly used for weapons such as a red arrow 10. The red arrow 10 antitank missile simulation terminal comprises 2 sets of simulation visual equipment (comprising 1 host and 2 display screens) and 2 sets of simulation control rods. The virtual visual resolution is more than or equal to 800 multiplied by 600PPi; the new frequency is 30 frames/s.

Fig. 1 shows a schematic structural diagram of a guided weapon analog terminal according to an embodiment of the invention.

The simulation terminal comprises an efficiency simulator 1, an orientation rod 4 and a positioning device 5.

As an embodiment of the invention, the efficacy simulator 1 is arranged on the body 2 of the guided munition by means of a mounting 3.

In the present embodiment, the mount 3 includes a clamp and a steering device; the clamp is clamped on the gun body and fixed with the gun body. The clamp is provided with a steering device, the steering device is fixed on the gun body, and the efficiency simulator is fixed on the gun body through the clamp.

The efficiency simulator 1 comprises a guidance simulation component; the guidance simulation assembly comprises:

the first master control module is used for receiving the position information and the time information of the current analog terminal sent by the first positioning time service module and sending the position information and the time information to the first antenna module; the attitude and heading determining module is also used for receiving a roll angle and a pitch angle sent by the attitude determining module and a heading angle sent by the orientation module; the system is also used for sending a pairing instruction to the body area network module; the fire control simulation system is also used for receiving fire control operation information, generating a transmitting instruction or an adjusting instruction according to the fire control operation information, transmitting the transmitting instruction or the adjusting instruction to the first antenna module, and transmitting the transmitting instruction to the transmitting simulation module for transmitting simulation. The first main control module is also used for transmitting the scene simulation signal to the scene simulation module and controlling the scene simulation module to simulate the transmission and the surrounding environment scene. The first master control module is also used for receiving an audio and video acquisition instruction which is loaded by the central data processing center and sent by the server, generating an audio and video acquisition signal and sending the audio and video acquisition signal to the audio and video acquisition module. The first main control module is also used for receiving a data calling instruction sent by a server loaded by the central data processing center and sending the data calling instruction to the data management module for calling corresponding data. The first main control module is also used for receiving ammunition allowance information sent by the body area network communication module, judging whether the current ammunition allowance is lower than a lowest ammunition threshold value or not, and if so, sending an ammunition replenishment instruction to the ammunition replenishment module.

In this embodiment, the information collected by the first main control module at least includes status data such as an identity, a weapon ammunition type, an ammunition amount, current position information, time information, a pitch angle, a course angle, a roll angle, and the like. The first main control module performs format conversion, encryption and decryption, coding and decoding, compression and decompression and the like on the acquired data.

As an optional implementation manner of this embodiment, the main control module uses a domestic single chip microcomputer mega innovative GD32F413 as a core control chip. The single-chip microcomputer megaly is easy to innovate GD32F413, a kernel Cortex-M4, system dominant frequency is as high as 168Mhz, 3M flash is built in, 64 IO ports capable of being independently programmed are arranged in the single-chip microcomputer, and a large number of programmable peripherals are arranged in the single-chip microcomputer. The USB OTG-based FPGA supports DSP instructions and FPU, the flash memory is in a zero-waiting state, a 256 KB-3072 KB flash memory is built, a 64 KB-256KB SRAM is built, an EXMC interface supports external SDRAM and SRAM, up to 8 UARTs (9 Mbit/S), up to 3 SPI (30 Mbit/S), up to 2I 2C (400 Kbit/S), up to 2 CAN2.0B, up to 2I 2S, SDIO and Ethernet MAC are supported, USB OTG FS is supported, up to 3 12 bits, 2.6M SPS ADC (up to 24 channels), up to 2 DAC, and the standby current is 2uA.

The GD32F413 internal program is designed in a simulation multithreading mode, functions of each single module on the efficiency simulator are independent thread operation, real-time performance of data response of each module is guaranteed, priority of all threads is sequenced according to requirements of each module on real-time performance, and reliability of system work is guaranteed.

After the first main control module is powered on, firstly, initializing the system, starting a minimum system for maintaining the normal work of the system, and completing a basic self-checking function; sequentially starting the external driving programs of the analog terminal and carrying out sequential initialization work; then, file system initialization work is executed, and the safety and reliability of data in the operation process are ensured; after all initialization work is finished, the system tries to carry out body area network connection, and the system can be ensured to work in the optimal state on line; after the body area network connection is completed, the system is in a normal working state, starts a multi-thread mode, executes each thread command, and receives each thread feedback and interruption.

In this embodiment, the first positioning and timing module is configured to obtain position information through a Beidou satellite positioning system, obtain position compensation information through a nine-axis attitude sensor, obtain position information of a current analog terminal, and send the position information to the first main control module; and the time information is also used for acquiring time information and sending the time information to the first main control module.

The first positioning time service module realizes the positioning and time service functions of equipment, and the positioning function is realized through a Beidou high-precision positioning navigation unit and a nine-axis attitude sensor to acquire attitude and geographical position information. The big dipper position information is gathered and is realized through big dipper satellite positioning system and big dipper ground reinforcing system two parts, and wherein big dipper satellite positioning system realizes millimeter level's satellite positioning function through carrying out the information interaction with big dipper ground reinforcing system. The Beidou foundation enhancement system is arranged in a combat countermeasure environment at a certain density, and different base station densities can be selectively opened according to the requirement on the precision of the positioning position. The system carries out nanosecond-level high-precision time service on the personnel loading equipment through the Beidou time service technology.

In the normal marching process, as the marching speed is limited and the marching direction is fixed, the positioning results before and after the nine-axis attitude sensor is combined are relatively similar, but after the fighter enters a fighting state, in order to improve the survival probability, the movement route of the fighter is not determined, the movement speed is high, if the fighter carries out acquisition once per second, details in the movement process can be lost, and the accuracy of the position information determination of the fighter by the fighter unit damage judgment system is greatly reduced. Although accurate collection of personnel position information and time information can be achieved through the Beidou position information collection function, the Beidou satellite positioning system accurately judges the position information of the detected fighter through each second, and the positioning precision of 1 second of Beidou positioning cannot completely meet the requirement for real-time collection of the position information of the fighter, so that the testing precision of the position information is further improved, and nine-axis attitude sensors are adopted in the system to compensate the position information every second. The motion state and the specific motion speed of the test fighter are calculated through the nine-axis sensor, the relative motion position of the fighter is calculated by combining the last Beidou positioning result, and the specific motion position information of the fighter between two Beidou positioning times is provided. The technology of combining the inertial displacement measured by the nine-axis attitude sensor with the Beidou position information is adopted, so that the measurement precision and the measurement speed of the position can be greatly improved, and a reliable basis is provided for the judgment of the combat unit damage judgment system.

In this embodiment, the attitude determination module is configured to acquire a roll angle and a pitch angle through the six-axis attitude sensor, and send the roll angle and the pitch angle to the first main control module.

The pitch angle and the roll angle are controlled by a six-axis sensor consisting of a three-axis gravity accelerometer and a three-axis gyroscope. The simulation terminal calculates accurate orientation information and attitude data in the space, wherein the attitude data mainly comprises a rolling angle of a simulator, a pitching angle of the simulator and the like in the space and is uploaded to the system server, so that accurate positioning of the outlet position of the guided munitions, namely the emergent position and direction of real munitions is realized.

The core device of the attitude determination module is an attitude sensor, the system uses a Saber C3G module of Beijing atomic corporation, a high-precision MEMS process sensor is integrated in the Saber C3G module, and a Boson process sensor is integrated in the Saber C3G module ^TM The core algorithm engine has multiple core technologies of depth self-learning, dynamic compensation, multi-sensor fusion and the like. The internal integrated BOSON engine can perform data fusion calculation of 1000HZ, and SOM output precision is guaranteed. The course angle accuracy is less than 0.5 ° RMS, the azimuth angle accuracy is less than 1.0 ° RMS, and the YAW dynamic drift is less than 5 ° per hour.

The Saber C3G module has a global leading diamagnetic algorithm, can perform diamagnetic interference detection and compensation on line in real time, eliminates up to 95% of soft and hard magnetic interference, and ensures the accuracy of the state in various motion states.

After the system software is in a normal working mode, the hardware of the Saber C3G module is initialized to complete the driving of the hardware. And then setting hardware parameters, which mainly relates to the configuration of basic function registers such as a hardware working mode. And after parameter configuration is completed, algorithm initialization is carried out, and all initialization of the Saber C3G module part is completed. And then, the software operating system is initialized to access partial software of the Saber C3G module into a general software thread of the system, further, the self-checking work of the sensor of the angle attitude determination module is realized in the system, the working parameter configuration of the sensor is continuously executed if the sensor is determined to work normally, and if the self-checking fails, a failure code is reported to wait for a specific action instruction. After software parameter initialization is carried out, the Saber C3G module enters a normal working mode, space angle data are obtained in real time, an attitude data thread in a waiting system reads instantaneous muzzle angle attitude data at a certain moment at any time, and data sending is achieved. The angle attitude determination module can acquire spatial angle attitude data of various weapons.

And the orientation module is used for acquiring the position information of the positioning equipment and the first positioning time service module and determining a course angle. And course angle information acquisition of the gun muzzle space angle is realized.

The course angle utilizes a directional rod with a high-precision positioning unit, and is matched with a positioning and time service module in the efficiency simulator, two points are positioned in space in a double-positioning mode, and the course angle is calculated and determined through the projection information of the two points and the line, namely the basic orientation angle of the weapon in the space can be known.

The core chip of the orientation module adopts a domestic chip dream core technology MXT906B chip, and can simultaneously receive signals (GPS, GLONASS, galileo and Beidou) from four GNSS constellations. By receiving GNSS signals from a plurality of frequency bands (L1/L2/L5) and combining an R tank technology, the MXT906B can reach centimeter-level precision within a plurality of seconds, the cold start time is shortest 24s, and the hot start time is shortest 2 s. The interface is provided with UART and I ² C. SPI, and other cannon IO interfaces. And the software supports standard RTCM, NMEA and UBX protocols.

In this embodiment, the body area network module is mainly used for performing communication connection between the team personnel and the weaponry through bluetooth connection, that is, receiving a pairing instruction of the first main control module, and sending the pairing instruction to the individual soldier universal data terminal in the body area network through bluetooth for pairing. The body area network module is also used for receiving ammunition allowance information sent by the individual soldier universal data terminal and sending the ammunition allowance information to the first main control module. And data communication between various data information of the weapon analog terminal and the individual soldier universal data terminal and the central control center server is realized.

The body area network communication module adopts a Bluetooth wireless connection mode to carry out communication, and the module supports I ² C，I ² And S, USART, PCM and other communication interfaces.

The communication module supports multiple communication protocols, SPP, HID, GATT and the like, the SPP protocol in the Bluetooth 4.0 protocol used by the system has the characteristics of high transmission speed, low delay, high stability and the like, the highest speed can reach 80KB/s, the communication distance can reach about 20 meters, the power of a normal connection state is less than 50mW, and the communication module has up to 40 channels, so that the multiple devices are ensured not to interfere with each other when working.

When the device works normally, a passive connection mode is adopted, and the device needs to wait for the connection of the main equipment to return to normal work. In actual use, the real-time uploading of the equipment information can be realized, and the high-speed real-time performance and the stability of system connection are ensured.

The first antenna module is used for uploading the position information and the time information of the current analog terminal to the server; the system is also used for uploading the transmitting instruction or the adjusting instruction to a server; and the server is also used for receiving the simulation display information sent by the server and sending the simulation display information to the simulation display module. The first antenna module is also used for receiving an audio and video acquisition instruction sent by a server loaded by the central data processing center and sending the audio and video acquisition instruction to the first main control module; the first antenna module is also used for receiving a data calling instruction sent by the server loaded by the central data processing center and sending the data calling instruction to the first main control module.

As an implementation manner of this embodiment, the first antenna module mainly includes a 4G communication chip, a baseband chip, and a peripheral circuit thereof, and mainly implements status reporting of a participant and a trainee.

In the embodiment, the launching simulation module responds to a launching instruction of the first main control module, judges whether a shell is loaded in a shell pipe or not through the photoelectric detector, and executes simulated launching according to the launching instruction when the shell is loaded; the transmitting instruction comprises bullet seed information, a pitch angle, a roll angle and target position information; the adjusting instruction comprises the following steps: and adjusting the operation information.

As an implementation manner of this embodiment, optionally, the transmission analog module is implemented by an optoelectronic switch. The multi-angle photoelectric switch collects the simulated cannonball loading condition, judges whether the cannonball is loaded or not, completes preparation before launching, realizes a flow consistent with actual operation, keeps the aiming and launching operation processes of the simulation terminal consistent with actual installation, and realizes the simulation of the weapon firing speed through calculation. The efficiency simulator can accurately measure the posture, the pitch angle, the pointing direction, the position and other information of the tested artillery, and can calculate the information of trajectory, explosion point position, damage radius and the like according to the model by combining manual selection and input of the projectile species. The damage effect simulation of the simple fire-controlled artillery without a fire-controlled system is realized.

In this embodiment, the fire control information acquisition module is used for acquiring fire control operation information and sending the fire control operation information to the first main control module. The fire control information acquisition module is mainly responsible for acquiring the fire control operation information of the missile by using a weapon terminal user, and uploading the acquired fire control operation information to the system so as to calculate the running track of the missile. The fire control information acquisition module is composed of a matrix key circuit. And (4) starting to initialize the matrix keyboard by fire control information acquisition, starting a key detection thread, and acquiring the fire control information.

In this embodiment, the analog display module is configured to receive analog display information sent by the antenna module, and perform analog display on an analog display device; the simulation display information comprises a missile flight real-time simulation video and the flight track and trajectory information of the emergent missile.

As an implementation manner of this embodiment, the analog display module is mainly composed of a display screen circuit, and the system is responsible for displaying information in the flying process of the missile and restoring and displaying the calculated space position of the missile on the simulation display equipment.

As an implementation manner of this embodiment, optionally, the analog display module may adopt a 1.3 inch oled 12864 dot matrix screen, the damage 1106 is adopted to control the liquid crystal screen, 128 x 64 pixel points are provided, and the software adopts an SPI interface to communicate with a host.

The analog display equipment can be divided into a cable television guided analog display screen or a cable observing and aiming guided analog display component 6 according to the type of the guided weapon, and the cable television guided analog display screen or the cable observing and aiming guided analog display component corresponds to a cable television guided weapon analog terminal and a cable observing and aiming guided weapon analog terminal respectively.

The cable television guidance simulation display screen is used for displaying a missile flight real-time simulation video and the flight track trajectory information of the emergent missile.

As shown in fig. 1, the wired sight-guiding simulation display assembly 6 comprises a simulation tail flame light source, a simulation tail flame reflector and a simulation display window which are arranged on the wired sight-guiding weapon; the simulated tail flame light source is used for simulating missile tail flame light according to flight track trajectory information of the emergent missile; the simulated tail flame reflector is used for reflecting guided missile tail flame light simulated by the simulated tail flame light source to the simulated display window; and the simulation display window is used for displaying the missile flight real-time simulation video and the missile tail flame light. For example, the number of the simulated tail flame reflecting mirrors is two, and the angle is set, so that light irradiated by the simulated tail flame light source enters the simulated display window after being refracted by 90 degrees twice.

As an embodiment of the present invention, as shown in fig. 4, the performance simulator further includes a scene simulation module. The scene simulation module is used for responding to the scene simulation signal of the first main control module and simulating the scene. The sound, light and smoke effects of the weapon during emission can be simulated through the modes of sound-light bombs, electronic flashes and the like; equipment damage conditions can be indicated in the modes of sound, light, smoke and the like; the simulation of the sound effect of the battlefield when weapons such as mines, grenades and the like are exploded in close range by aiming guns between the guns is supported.

As an implementation manner of this embodiment, the scene simulation module may be one or more of three analog circuits, namely, a sound scene simulation circuit, a light scene simulation circuit and a smoke scene simulation circuit.

A sound scene simulation circuit for simulating the attack sound and the environmental sound according to the sound simulation signal in the scene simulation signal; for example by means of a portable sound simulator simulating the sound effects of an explosion. The portable sound simulator adopts high-power outdoor sound box, and pronunciation unit is bass + high pitch, satisfies multiple sound source equipment and connects and AUX sound source input, has multiple EQ scene mode and selects, and the design of draw-bar box big gyro wheel, power supply mode are integration large capacity battery, and the mounting means can hang or the tripod supports. The simulated sound comprises real-soldier actual-mounted sound, explosion sound, tank armored vehicle sound, gun sound and original sound and simulated sound required by compiling various battlefields.

The sound scene simulation process comprises the following steps: the audio hardware is first initialized, after which the system software enters a thread waiting for a firing signal. After the firing signal is generated intermittently, the system automatically selects the audio data section and playing time to be played through the data in the existing ammunition variable and shooting mode variable, and the simulation of the sound scene is realized.

The light and shadow scene simulation circuit is used for driving the strong light source according to the light simulation signal in the scene simulation signal and simulating the light and shadow during firing; for example, the flame effect is simulated through a flame emitter, the flame emitter is made of combustible gas or liquid, and the flame length control range is as follows: 0.5m to 3m.

The simulation process of the light and shadow scene comprises the following steps: the lighting hardware is first initialized, after which the system software enters a thread waiting for a firing signal. After the firing signal is generated, the system automatically selects the luminous intensity, the luminous frequency and the luminous duration of the driving light source hardware according to the data in the existing ammunition variable and shooting mode variable, and simulation of the light and shadow scene is achieved.

The smoke scene simulation circuit is used for simulating smoke during firing according to the smoke simulation signal in the scene simulation signal; for example, smoke effects of an explosion are simulated by a smoke generator, a smoke effect product, a simulated explosion point and the like. The smoke generator has the functions of controllable smoke ejection amount, controllable smoke spraying distance and time, freely adjustable smoke outlet angle of the open type output port and the like, and has the characteristics of light weight, small volume, reusability and the like, and the smoke spraying distance is not less than 15m.

The smoke scene simulation process comprises the following steps: the smoking hardware is first initialized, after which the system software enters a thread waiting for a fire signal. After the firing signal is generated intermittently, the system automatically selects and drives the smoking intensity, smoking times and smoking duration of smoking hardware through data in the existing ammunition variable and shooting mode variable, and simulation of the smoke scene is achieved.

The sound scene simulation circuit and the light scene simulation circuit mainly control the use of atmosphere rendering equipment such as sound, light, electricity, explosion and the like on a battlefield in due time under the support of communication equipment and the cooperation of front test and training support personnel so as to enable the environment to be closer to the real battlefield scene.

As an embodiment of the present invention, as shown in fig. 4, the performance simulator further includes an audio/video capture module. The audio and video acquisition module responds to a power-on signal and/or an acquisition signal of the first main control module, continuously acquires environmental sound data and video data, and sends the acquired audio and video data to the data management module. The audio and video acquisition module is used for acquiring real-time audio and video information of a battlefield, including battlefield sounds and images, and is convenient for the central control end to call the battlefield information at any time.

The audio and video acquisition module comprises:

and the audio acquisition circuit acquires audio signals through the microphone to amplify and performs A/D sampling to obtain environmental sound data.

As an optional embodiment in the embodiment, the audio acquisition module performs measurement through an electret XF-18D microphone, the signal is amplified, the post-stage performs A/D sampling, the sampling frequency can reach 20kHz, and a wide range of sound signals can be captured.

And the video acquisition interface circuit acquires video signals through the camera to obtain environment video data.

As an optional embodiment in the embodiment, the camera adopts an OV5640-AF module, belongs to a CMOS type digital image sensor, and is a 1/4 inch CMOS QSXGA (2592 × 1944) image sensor manufactured by OV company; the output of 500 million images can be supported at 1080P, and 30 frames per second can be achieved, and all image processing functions including gamma curve, white balance, contrast, chromaticity and the like can be set by the SCCB interface in a self-defined mode. The camera applies a unique sensor technology, and improves the image quality by reducing or eliminating optical or electronic defects such as fixed pattern noise, trailing, blooming and the like, thereby obtaining a clear and stable color image. The power of the module is only 150-200 mW when the module works.

The audio and video acquisition execution flow comprises the following steps: the software system firstly initializes the audio and video acquisition hardware module, then the system carries out self-defined parameter setting according to parameters uniformly set by a commander before the test, and then the system software enters a thread waiting for uploading operation. And when the analog terminal receives a request for transmitting the audio and video data in real time, the analog terminal enters the thread and continuously transmits the audio and video data stream of the environment where the weapon analog terminal is located.

As an embodiment of the present invention, as shown in fig. 4, the performance simulator further includes the data management module. The data management module is used for receiving the audio and video data sent by the audio and video acquisition module, the transmitting instruction and the adjusting instruction sent by the first main control module and the analog display information sent by the first antenna module, compressing the data and storing and backing up the compressed data; the data management module also responds to the data calling instruction sent by the first main control module and sends the correspondingly stored data to the first main control module. Because a large amount of data need to be collected at the personnel (equipment) loading equipment end of a team, the data comprise position information acquired by a Beidou position information acquisition module, attitude information acquired by an attitude information acquisition module, personnel state and coding information, weapon state information and the like. The data management module is used for uniformly collecting and managing all test data and uniformly uploading the test data to a combat unit damage judgment system of the central data processing center in real time through the antenna module to analyze damage states.

The data management module comprises an FLA damaged memory interface circuit and an SD card interface circuit which are externally connected with a storage device. The real-time state of the system can be recorded and stored in the external storage device, for example, data stored in the SD card can be subjected to data summarization through the body area network communication module, and the SD card can be directly taken out to read the data, so that the safety of the data is further ensured.

Throughout the process from the beginning of the simulated training to the end of the training, the data management module needs to keep an awakening state, and the safety of data is guaranteed. Therefore, the data management module realizes preprocessing compression and redundant backup storage before transmission of all data generated by the wire guided weapon simulation terminal in the whole training process. The acquired data comprises self-checking information, angle attitude information, weapon state information, residual ammunition information and the like of the first main control module; meanwhile, the data management module also needs to manage basic data information required for maintaining the normal operation of the system, and the basic data information mainly comprises basic configuration data, different types of bullet type information and the like.

The data management module collects and manages all the test data in a unified way, and uploads the test data to the combat unit damage judgment system in a unified way through the antenna module in real time to analyze the damage state. Meanwhile, due to the fact that the number of the combat units distributed in the same combat test field is large, the communication bandwidth which can be distributed by each test node is limited. In order to realize real-time transmission of various complex data, distributed preprocessing compression needs to be carried out on data at a universal data terminal of an individual soldier. Under normal conditions, the change of the position information of the personnel and the data of the infrared receiving module is relatively slow, and the data can be quickly compressed through a lossless compression technology to realize the real-time transmission of the data.

As an embodiment of the present invention, as shown in fig. 4, the performance simulator further includes an information prompt module. The information prompting module is used for receiving ammunition allowance information sent by the main control module and electric quantity information sent by the power supply management module; the information prompt module comprises a key driving circuit and an LED indicating lamp circuit and is used for selecting ammunition seeds and displaying ammunition residue information and electric quantity information.

The information prompt module mainly realizes the input and output of information through a plurality of keys and a plurality of full-color LED indicator lamps. The simulation terminal system mainly can realize functions including simulation terminal residual electric quantity information, simulation terminal residual ammunition information, simulation terminal current network connection state information, simulation terminal system working state and the like. Every full-color LED comprises three pure-color LED, can realize 7 kinds of colour light demonstration through adjusting different combinations, simultaneously, promotes the information display ability through many lamp pearl combinations. For example, different display information is provided through the combination of the lamp beads with different colors.

The LED is used as a main display element to mainly improve the stable working capacity of the system in severe environments such as wide temperature range, high humidity, high altitude and the like. Meanwhile, in the countermeasure process, the efficiency device can stably work in the environment polluted by dust and muddy water, and is more stable than an LCD screen display scheme.

As an embodiment of the present invention, as shown in fig. 4, the efficacy simulator further includes an ammunition replenishment module. The ammunition replenishing module responds to an ammunition replenishing instruction sent by the first main control module, acquires ammunition replenishing information from the ammunition replenishing equipment, updates the ammunition information according to the acquired ammunition replenishing information, and realizes ammunition replenishing simulation, wherein the ammunition replenishing information comprises ammunition seed information and the number of ammunition.

In the embodiment, ammunition replenishment can be realized through infrared communication, an infrared receiving device is installed on the simulation terminal of the wired guided weapon, and when ammunition replenishment equipment comes to the simulation terminal for replenishment, the ammunition replenishment equipment sends ammunition to the infrared receiving device according to the type and the quantity through an infrared transmitting device, so that replenishment is completed. Such as by a radio frequency RFID device or the like.

As an embodiment of the present invention, the performance simulator further includes a human-computer interaction module. And the human-computer interaction module is used for setting ammunition seed information and initial ammunition quantity by a user, and acquiring ammunition updating data, fire control operation information and a simulation striking result for displaying. The system server calculates the flight trajectory of the emergent ammunition in the air and the collision result with the target so as to realize the simulation of the damage result of the guided weapon.

The man-machine interaction module mainly comprises a display screen interface circuit and a matrix keyboard circuit. In the interpersonal interaction process, a display screen interface circuit starts to work, firstly, a display screen is initialized, then, a data display waiting thread is entered, and data is displayed when a system gives out data. The matrix keyboard starts to work, the matrix keyboard is initialized firstly, then a key detection thread is waited to be started, an input command is waited, and key operation indication is carried out.

In the wired guided weapon simulation terminal, a directional rod is arranged on the gun body of the guided weapon through the mounting piece, so that the efficiency simulator is arranged at one end of the directional rod; the direction of the directional rod is consistent with the direction of the muzzle of the guided weapon.

In the wired guided weapon simulation terminal, a positioning device is arranged at the other end of the directional rod.

As an embodiment of the present invention, the mount includes a jig and a steering device; the clamp is clamped on the gun body and fixed with the gun body. Arranging a steering device on the clamp, and fixing the steering device on the gun body; and the steering device is provided with an orientation rod, so that the orientation rod can be steered through the steering device.

As an embodiment of the present invention, as shown in fig. 3, the positioning apparatus includes a positioning component; the positioning assembly, comprising:

The positioning device further comprises a battery, a switch, an indicator light and the like. The battery supplies power to the positioning equipment; the switch and the indicator light are responsible for starting and closing the equipment and prompting the state.

The above is an introduction about an embodiment of the analog terminal, and the scheme of the present invention is further explained by the method embodiment.

Fig. 5 is a flow chart of a guided munition simulation method according to an embodiment of the present invention.

S501, pairing with the individual soldier universal data terminal, acquiring fire control operation information after pairing is successful, generating a transmitting instruction, and executing simulated transmission.

The guided weapon simulation terminal is matched with the individual soldier general data terminal through the body area network module, and accurate matching of the weapons and operators in one-to-one correspondence is achieved. As an embodiment of the present invention, pairing may also be achieved through an RFID radio frequency device.

After the pairing is successful, an operator generates fire control operation information through fire control operation, after the fire control operation information of the paired operator is received by the guidance weapon simulation terminal, a transmitting instruction is generated through the first main control module, and the transmitting simulation module responds to the transmitting instruction of the first main control module to execute simulated transmission.

As an embodiment of the present invention, optionally, in order to better simulate the launching process, an operator is required to actually execute the shell loading process, so that after the launching simulation module responds to the launching instruction of the first main control module, the photoelectric detector judges whether a shell is loaded in the shell or not, and when the shell is loaded, simulated launching is executed according to the launching instruction; and when judging that the cannonball is not loaded in the cannonball, not executing simulated launching and prompting that the cannonball is not loaded.

S502, acquiring position information, time information, a roll angle, a pitch angle and a course angle during simulated launching, calculating the position and the direction of a launching port, and calculating the flight trajectory of the missile according to the position and the direction of the launching port and the missile type information.

When the simulation transmission is executed, the position information of the simulation terminal during the simulation transmission is acquired through the first positioning time service module and is sent to the first main control module. Optionally, the position information can be obtained through a Beidou satellite positioning system, the position compensation information is obtained through a nine-axis attitude sensor, and the position information is compensated to obtain the position information of the current simulation terminal. And acquiring time information while acquiring the position information, and sending the time information to the first main control module. The roll angle and the pitch angle are also obtained through the attitude determining module, the course angle is obtained through the orientation module, and the course angle is sent to the first main control module; the first main control module uploads the acquired information to the server through the first antenna module, and the position and the direction of the emergent port during emission are calculated.

And after the position and the direction of the exit port during launching are obtained, calculating the flight trajectory of the missile according to the position and the direction of the exit port and the missile seed information.

The missile flight trajectory calculation conforms to the complex oblique projectile motion, firstly, the direction of a z axis is defined as the horizontal direction along the advancing direction of the missile, the reverse direction of a y axis is the direction vertical to a horizontal plane, and the direction of an x axis is the direction vertical to a y-z plane.

Then, considering the influence of air resistance on missile flight, the missile flight air resistance needs to be calculated:

wherein C is an air resistance coefficient; ρ is the air density; s, the windward area of an object; v _t The relative movement speed of the missile and the air at the current moment.

Finally, considering the influence of meteorological environment on missile flight, and combining the mass of the missile, the acceleration generated by the air resistance in the z-axis direction can be calculated, and further, a specific missile trajectory calculation formula is obtained:

therein, Ψ _x 、Ψ _y A component function of the spread of the projectile in one axial direction; v ₀ The initial velocity of the missile; t is the time of flight; theta is an included angle between the emergent direction and the horizontal plane; g is gravity acceleration; f (t) is air resistance in the z-axis direction; m is the missile mass; delta _x 、δ _y 、δ _z Is the influence coefficient of the spatial meteorological data.

S503, simulating and displaying the flight trajectory of the current missile.

The server sends the flight trajectory and trajectory information of the guided missile to the simulation terminal, the first antenna module of the simulation terminal receives the information and then sends the information to the simulation display module, and the simulation display module generates a trajectory simulation flight schematic diagram according to the flight trajectory and trajectory information of the guided missile and displays the trajectory simulation flight schematic diagram on the simulation display device.

In the operation process of the viewing-aiming guided weapon and the television-guided weapon, the missile flight video fed back by the viewing-aiming missile window or the video acquisition device carried by the missile is used as the operation reference, so that the embodiment of the invention is optional, the flight real-time video of the current missile can be generated according to the current position information of the missile, and the flight real-time simulation video of the current missile is subjected to simulation display.

As an embodiment of the present invention, when analog transmission is performed, a scene analog signal is generated, and a scene is simulated;

the simulating the scene comprises:

Driving a strong light source according to the optical simulation signal, and simulating the light shadow when the missile is launched; and/or

The simulation of the scene may comprise a sound simulation, a light simulation and/or a smoke simulation, the type of simulation being selected according to the specific scene situation.

S504, obtaining adjustment operation information, calculating the flight trajectory and trajectory of the guided missile after simulation adjustment according to the adjustment operation information, and performing simulation display on the flight trajectory and trajectory of the guided missile after simulation adjustment.

After simulated launching, adjusting operation needs to be carried out on the guided missile flight process in real time according to the fed guided missile flight trajectory, when an operator adjusts the guided weapon, the simulation terminal obtains adjustment operation information, and the adjusted guided missile flight trajectory is recalculated according to the adjustment operation information. The adjustment operation is, for example, adjusting the missile flight angle, etc. After adjustment, the flight data of the missile is different from the data before the adjustment, so that the flight trajectory and trajectory of the missile are also different from those before the adjustment, and the calculation is carried out again according to the calculation process of the flight trajectory and trajectory of the missile.

The missile flight trajectory calculation conforms to the complex oblique projectile motion, firstly, the z-axis direction is defined as the horizontal direction along the advancing direction of the missile, the y-axis direction is the direction vertical to the horizontal plane, and the x-axis direction is the direction vertical to the y-z plane.

therein, Ψ _x 、Ψ _y A component function of the spread of the projectile in one axial direction; v ₀ The initial velocity of the missile; t is the time of flight; theta is an included angle between the emergent direction and the horizontal plane; g is the acceleration of gravity; f (t) is air resistance in the z-axis direction; m is the missile mass; delta _x 、δ _y 、δ _z Is the influence coefficient of the spatial meteorological data.

And performing simulation display on the calculated flight trajectory of the current missile, and updating display information.

According to the embodiment of the invention, the training process of a guided weapon, such as the training process of a cable-viewing-aiming guided weapon or a cable television guided weapon, can be simulated, the launching of a guided missile is simulated, the flying process of the guided missile is observed in real time to present an image, the adjustment operation is simulated, and the striking of a simulated target is realized; and the data is communicated with the server where the central data processing center is located in real time, so that the accuracy and the usability of the data are improved.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A guided munition analog terminal, comprising:

the efficiency simulator is arranged on the body of the guided weapon through a mounting piece;

the directional rod is arranged on the gun body of the guided weapon through the mounting piece, so that the efficiency simulator is arranged at one end of the directional rod; the direction of the directional rod is consistent with the direction of the muzzle of the guided weapon;

the positioning equipment is arranged at the other end of the orientation rod;

the transmission simulation module responds to a transmission instruction of the first main control module and executes simulation transmission according to the transmission instruction; the transmitting instruction comprises bullet seed information, a pitch angle, a roll angle and target position information; the adjusting instruction comprises the following steps: adjusting the operation information;

2. The guided munition simulation terminal of claim 1, further comprising a scene simulation module; the scene simulation module is used for responding to the scene simulation signal of the first main control module and simulating the scene; the scene simulation module comprises:

3. The guided munition simulation terminal of claim 1, further comprising one or more of an audio/video acquisition module, a data management module, a power management module, an information prompt module, and an ammunition replenishment module;

the audio and video acquisition module comprises:

the battery module comprises a lithium battery pack, a lithium battery over-discharge protection board and an uninterrupted power supply module, wherein the lithium battery pack comprises a plurality of wide-temperature lithium batteries; the lithium battery over-discharge protection board comprises an overvoltage protection circuit and an overcurrent protection circuit, and performs overvoltage and overcurrent protection in the charging process; the uninterruptible power supply module includes a backup battery, switching between the main battery and the standby battery is carried out through the uninterrupted power supply chipset circuit;

4. The guided munition simulation terminal of claim 1, wherein the simulation display device is a cable television guided simulation display screen or a cable viewing guided simulation display assembly;

5. A guided munition simulation method, comprising:

6. The method of claim 5, wherein after generating the firing instructions, determining whether a shell has been loaded within the barrel, and if so, performing simulated firing in accordance with the firing instructions; otherwise the ammunition fails in simulated firing.

7. The method of claim 5, wherein the trajectory of the missile comprises:

calculating the air resistance of the missile flight, comprising:

therein, Ψ _x As a function of the fraction of the missile projectile spread in the x-axis direction; Ψ _y Respectively, as a function of the fraction of the missile projectile spread in the y-axis; v ₀ The initial velocity of the missile; t is the time of flight; theta is the emergent angle of the missile, namely the included angle between the emergent direction and the horizontal plane; g is the acceleration of gravity; f (t) is air resistance in the z-axis direction; m is the missile mass; delta _x 、δ _y 、δ _z Influence coefficients of the spatial meteorological data in the directions of the x axis, the y axis and the z axis respectively; the direction of the z axis is the horizontal direction along the advancing direction of the missile, the direction of the y axis is the direction vertical to the horizontal plane, and the direction of the x axis is the direction vertical to the y-z plane.

8. The method according to claim 5 or 6, characterized in that when performing analog transmission, a scene analog signal is generated, the scene is simulated;

the simulating the scene comprises the following steps:

9. The method of claim 5, wherein the ammunition balance information is obtained, an ammunition replenishment command is generated if the current ammunition balance is below a minimum balance value, the ammunition replenishment information is obtained from an ammunition replenishment device, and the ammunition replenishment simulation is performed on the ammunition replenishment information based on the obtaining.

10. The method of claim 5, further comprising: