CN117628978A - General analog terminal of self-adaptation networking's unmanned/manned ground carrier - Google Patents
General analog terminal of self-adaptation networking's unmanned/manned ground carrier Download PDFInfo
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Abstract
The invention discloses a general simulation terminal of a self-adaptive networking manned/unmanned ground vehicle, which comprises a control host, a vehicle-mounted data terminal, a curved laser receiving probe group, direction-finding and angle-finding equipment and a direct aiming transmitter, wherein the control host is used for receiving the data of the vehicle-mounted data terminal; the curved laser receiving probe is used for receiving coded laser of the hit-side simulated artillery shot from the periphery, and transmitting hit data to the control host for damage calculation; the direction-finding angle-finding equipment is used for collecting the shooting angle data of the cannon; the direct aiming transmitter is used for simulating the direct aiming weapon to emit coded laser; the control host is connected with the real-package fire control device through the CAN fire control bus and collects data such as the shooting angle, and the like, and data such as the striking distance, the shot flight time, the falling bill scattering and the like are calculated in a simulation mode under the condition that the real-package ammunition is not launched. The invention can provide reliable guarantee for the accurate evaluation of the simulated battlefield damage efficiency of the battle test system.
Description
Technical Field
The invention relates to the field of combat tests, in particular to a universal simulation terminal for a self-adaptive networking manned/unmanned ground vehicle.
Background
In the traditional combat test, the vehicle simulation terminal has no universality, and the exploration of the unmanned vehicle simulation terminal and the unmanned/manned convertible vehicle simulation terminal is relatively less; when networking interconnection operation is performed among a plurality of analog terminals, the signal strength is fixed and is difficult to adapt to the influence of factors such as communication distance, interference and the like, the stability of connection among the analog terminals is influenced to a certain extent, and a method for flexibly adjusting the networking signal strength according to the real-time environment change condition is not available in engineering at present. Therefore, there is a need for a universal carrier simulation terminal for adaptive networking based on a manned/unmanned ground carrier, which can flexibly select modular universal components according to different mounting carriers, adaptively determine the Zigbee signal intensity according to the environment, and keep connection stable.
Disclosure of Invention
The invention aims to provide a universal simulation terminal for an unmanned/unmanned ground vehicle of a self-adaptive networking, so as to solve the problems that different simulation terminals need to be designed for different vehicles and networking connection among the simulation terminals is unstable, and provide reliable guarantee for accurate evaluation of the simulated battlefield damage efficiency of a combat test system.
The technical solution for realizing the purpose of the invention is as follows:
the universal simulation terminal for the self-adaptive networking manned/unmanned ground vehicle comprises a control host, a vehicle-mounted data terminal, a curved laser receiving probe set, direction-finding and angle-finding equipment and a direct aiming transmitter;
the curved laser receiving probe is used for receiving coded laser of the square simulated artillery shot around and transmitting the striking data to the control host for damage calculation;
the direction-finding angle-finding equipment is used for collecting the shooting angle data of the cannon and supporting the automatic collection and manual input of shooting data;
the direct aiming transmitter is used for simulating the direct aiming weapon to emit coding laser;
the control host simulates to automatically calculate a trajectory under the condition of not firing the packaged ammunition according to the collected shooting angle data of the artillery; information interaction with the curved laser receiving probe set, the direct aiming transmitter, information interaction with a building simulation terminal and an individual harness simulation terminal, receiving coded laser of the direct aiming transmitter and finishing decoding; simulating the firing and hit effects of the cannon;
the vehicle-mounted data terminal is connected with the control host, and is in information interaction with the work building simulation terminal, the individual soldier harness simulation terminal, the individual weapon simulation terminal, the explosive simulation terminal and the gas mask simulation terminal, and when rescue is needed, the vehicle-mounted data terminal is in information interaction with the medical service rescue simulation terminal; for the manned carrier, the passenger holding operation of the carrier is connected with the control host, so that the information interaction between the control host and the comprehensive pilot system, the data processing system and the information display system is realized; for unmanned vehicles, a control person checks the relevant information such as the attitude angle, the scout video, the position information, the hitting data and the like of the vehicle uploaded to the server by the vehicle-mounted data terminal through the guide terminal; for the carrier equipped with the unmanned aerial vehicle, the vehicle-mounted data terminal can view the unmanned aerial vehicle reconnaissance video and transmit the reconnaissance video back to the server, and view the reconnaissance video at the pilot terminal and the information display system.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The modularized architecture and the generalized design are adopted, and the direction-finding and angle-finding equipment can be installed on a carrier with the gun striking capability; for unmanned vehicles, a control person can check the related information such as the attitude angle, the scout video, the position information, the hitting data and the like of the vehicle uploaded to the server by the vehicle-mounted data terminal through the guide and adjustment terminal; for the carrier equipped with the unmanned aerial vehicle, the vehicle-mounted data terminal can adopt 5.8GHz to view the unmanned aerial vehicle reconnaissance video and transmit the reconnaissance video back to the server, and view the reconnaissance video at the pilot terminal and the information display system.
(2) The vehicle not only can be matched with the traditional manned vehicle and unmanned vehicle, but also can be matched with a novel manned/unmanned convertible vehicle, and the novel manned/unmanned convertible vehicle is normally driven by a passenger group, and can use the manned vehicle mode of a general simulation terminal; under the high-risk combat situation, the passenger group can get off to remotely control the carrier to carry out combat actions such as information reconnaissance, fire striking and the like through the real-time control terminal, and the unmanned carrier mode of the universal simulation terminal can be used.
(3) The vehicle-mounted data terminal adopts a learning algorithm (Sarsa algorithm) to perform online optimization based on a ZigBee ad hoc network interconnection nesting mechanism, and adjusts the ZigBee signal intensity according to communication delay and networking nodes, so that the ZigBee data terminal can be adaptively adjusted under different terrains and interferences, and stable and reliable communication is ensured; the multi-type manned/unmanned simulation terminal is supported to carry out information interaction through the ad hoc network, so that the expandability of the combat test countermeasure system is improved.
(4) The system can automatically associate the individual soldier harness simulation terminal to get on the vehicle, and check the status and information of personnel identity, weapon type, ammunition, casualties, communication, positioning and the like through the vehicle-mounted data terminal, and simulate the associated killing effect of the vehicle on internal personnel and weapons after being hit; the indoor positioning module is used for acquiring indoor positioning, and uploading carrier information, weapon type, ammunition, casualties, communication, positioning and other states and information to the industrial and industrial building simulation terminal.
(5) Different curved surface laser receiving probes can be selected according to different shapes and sizes of the carrier, networking is customized through software, and configuration parameters are synchronized to a control host through ZigBee. Typical configurations of 3 vehicles, about 2 vehicles, etc. can be adopted for the steps of the chariot, the tank, etc.
(6) The curved surface laser receiving probe shell adopts a light-gathering curved surface structure and a light-transmitting material, the coded laser emitted from the periphery is gathered to the central position, and the coded laser emitted from all directions can be received only by adopting one laser receiving module.
Drawings
Fig. 1 is a frame diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a control host according to the present invention.
Fig. 3 is a schematic diagram of the in-vehicle data terminal of the present invention.
Fig. 4 depicts a system networking flow.
Fig. 5 depicts a flow of child nodes joining a network.
Fig. 6 depicts a workflow for adaptive adjustment of networking signal strength.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The implementation of the present invention will be described in detail below with reference to specific embodiments.
The universal simulation terminal for the self-adaptive networking manned/unmanned ground vehicle comprises a control host, a vehicle-mounted data terminal, a curved surface laser receiving probe set, direction-finding and angle-finding equipment and a direct aiming transmitter.
The control host is an information processing center of a general simulation terminal and is responsible for realizing functions of data storage, laser receiving, damage processing and the like, is a central processing unit of the whole system and consists of a tower type laser receiving probe, a hit effect simulation device, a main control board and the like; the CAN fire control bus is connected with the direction-finding and angle-measuring equipment of the real fire control device to collect data such as the shooting angle, and the like, and the data such as the striking distance, the shot flight time, the falling bill scattering and the like are calculated in a simulation manner under the condition of not firing the real ammunition;
the tower type laser receiving probe group integrates 8 laser receiving probes on different direction surfaces and is used for receiving coded laser and finishing decoding;
the hit effect simulation device is integrated with an LED module which can simulate the light effect of firing and being hit by the artillery through the combination of different light colors; the loudspeaker module is integrated, so that different sound effects of firing and being hit of the artillery can be simulated; the smoke emission device is integrated, so that the smoke with different colors can be emitted to simulate the smoke effect of firing and being hit by the cannon;
the main control board integrates a Beidou positioning module (integrated RTK module), a ZigBee module 1, an infrared communication module and an indoor positioning module, so as to realize a short-distance wireless communication function; the system is used for controlling information interaction between a host computer and a curved laser receiving probe set and information interaction between the host computer and a direct aiming transmitter as well as between the host computer and an external terminal: and information interaction of simulation terminals such as a building simulation terminal, an individual harness simulation terminal and the like.
The vehicle-mounted data terminal is connected with the control host through a CAN-to-USB, is integrated with a 5.8GHz image transmission module, a ZigBee module 2, a Bluetooth module and a 4G/5G communication module, is provided with terminal equipment management software developed based on an android system, and supports the connection of a server end to carry out system and software upgrading; the ZigBee module 2 is used for a general simulation terminal and other simulation terminals: information interaction and interconnection nesting among the work building simulation terminal, the individual weapon simulation terminal, the explosive simulation terminal and the gas mask simulation terminal; the 4G/5G communication module is used for carrying out information interaction with the medical service rescue simulation terminal when the general simulation terminal needs rescue;
the vehicle-mounted data terminal is connected with the control host through CAN to USB for the manned vehicle to realize the information interaction between the control host and the comprehensive pilot system, the data processing system and the information display system; for unmanned vehicles, a control person can check the related information such as the attitude angle, the scout video, the position information, the hitting data and the like of the vehicle uploaded to the server by the vehicle-mounted data terminal through the guide and adjustment terminal; for a carrier equipped with the unmanned aerial vehicle, the vehicle-mounted data terminal can adopt 5.8GHz to check the reconnaissance video of the unmanned aerial vehicle and transmit the reconnaissance video back to the server, and check the reconnaissance video at the pilot terminal and the information display system;
the vehicle-mounted data terminal adopts a reinforcement learning algorithm (Sarsa algorithm) to perform online optimization based on a ZigBee ad hoc network mechanism, and adjusts the ZigBee signal intensity according to communication delay and networking nodes, so that the ZigBee data terminal can be adaptively adjusted under different environments and interference, and stable and reliable communication is ensured. When the individual-soldier harness simulation terminal enters the networking range of the carrier, the individual-soldier harness simulation terminal can be automatically associated with the vehicle to get on, the status and information of personnel identity, weapon type, ammunition, casualties, communication, positioning, power supply and the like are checked through the vehicle-mounted data terminal, and the killing effect of the carrier on internal personnel and weapons after being hit (also called as a joint damage technology) is simulated; when the universal simulation terminal enters the networking range of the engineering building simulation terminal, the engineering building simulation terminal can be automatically associated through ZigBee, indoor positioning is obtained through an indoor positioning module, and states and information such as carrier information, weapon type, ammunition, casualties, communication, positioning, power supply and the like are uploaded to engineering building simulation terminal equipment;
the ZigBee module 2 integrated by the vehicle-mounted data terminal is different from the ZigBee module 1 integrated by the main control board in that: the ZigBee module 2 is used for associating a work building simulation terminal, an individual harness simulation terminal, an individual carrying equipment simulation terminal, an explosive simulation terminal and a gas mask simulation terminal, and the ZigBee module 1 is used for transmitting damage information to the work building simulation terminal, the individual harness simulation terminal, other general simulation terminals and the like after the general simulation terminal is hit and damaged, so as to realize the associated damage technology;
the curved surface laser receiving probe group consists of a plurality of curved surface laser receiving probes, different curved surface laser receiving probes can be selected according to different requirements and size differences of the carrier, configuration parameters are synchronized to the control host through ZigBee through self-defined networking, and the curved surface laser receiving probe group is fixed at corresponding positions of the carrier in a mode of combining magnetic steel adsorption and shroud binding. Typical configurations of 3 vehicles in front and back, 2 vehicles in left and right can be adopted for vehicles such as a step chariot and a tank;
the curved laser receiving probe shell adopts a curved surface structure capable of condensing and a light-transmitting material, the coded laser emitted from the periphery is converged at the central position, and the coded laser emitted from all directions can be received only by adopting one laser receiving module; the laser is used for receiving laser of the simulated artillery of the striking party through ZigBee and is communicated with the control host, and striking data are transmitted to the control host for damage calculation.
The direction finding and angle finding equipment is divided into a main direction finding angle finding device and a sub direction finding angle finding device, the main direction finding angle finding device and the sub direction finding angle finding device are connected with a control host through an RS232 serial port line, the main direction finding and angle finding device and the sub direction finding angle finding device are fixed at the front end and the rear end of a gun barrel in a mode of combining a binding band with a clamp, the shooting angle data of the gun can be automatically acquired through differential calculation, the automatic acquisition and manual input of shooting units such as ammunition, powder temperature and the like are supported, and the control host can realize trajectory automatic calculation according to the gun type and ammunition type;
the direct aiming transmitter is connected with the control host through ZigBee, is suitable for simulating the direct aiming weapon to emit coded laser, and simulates the emitting effect through the flickering of the integrated strong light indicator lamp.
The following describes in detail a specific implementation manner of self-adaptive networking between online optimization simulation terminals based on reinforcement learning algorithm (Sarsa algorithm) through 3 main composition modules:
(1) Zigbee hardware module
The Zigbee hardware module is integrated in the android data terminal and is used for low-power consumption wireless communication.
S1: in the combat test system, the bearing nodes are set as coordinators, such as vehicles, battlefield work and the like; and setting the individual soldier node as a terminal node.
S2: the coordinator is responsible for establishing a ZIGBEE network, sending a network access request when the terminal node approaches the coordinator, and determining whether to allow the terminal node to access the network according to the network resource condition.
S3: when networking, the coordinator node and the terminal node are interconnected and nested, so as to realize interconnection and interworking of battlefield information. The superior node can timely transmit the battlefield behavior to the subordinate node.
(2) On-line learning module for reinforcement learning
The Zigbee signal intensity is corrected on line by adopting a Sarsa algorithm, and the Sarsa (state-action-recycle-state '-action') algorithm is a time sequence difference method of on-line learning in reinforcement learning. Under the premise of not knowing the external environment in advance, the environment can be learned according to the interaction between the intelligent agent and the environment, the intelligent agent is trained by adopting an epsilon-greedy strategy, and has a certain probability of randomly selecting actions to increase the exploration space, so that the situation of sinking into local optimum is avoided. The Sarsa algorithm is a reinforcement learning algorithm based on Q tables, which are in a state space s 1 ...s i For the row, with the action space a 1 ...a i Is a row. The value stored in the Q table is Q value, representing the state S at the current time t t Execute action A at time t The total income obtained later updates the Q value through the interaction of the agent and the environment, and the updating formula is as follows:
Q(S t ,A t )＝Q(S t ,A t )+α[R t+1 +γQ(S t+1 ,A t+1 )-Q(S t ,A t )]
wherein R is t+1 For rewards after executing action A at the next time t+1, alpha represents the learning rate of the intelligent agent, and the value is between 0 and 1; gamma is the discount rate and takes a value between 0 and 1.
The Sarsa algorithm adopts an on-policy on-line iterative strategy, namely, actions are performed first and then the Q value is updated. Compared with offline learning, the online learning algorithm is more conservative, and correspondingly, the optimized parameters are safer.
S1: setting allowable communication delay delta t between initial training data terminals acc =30ms, zigbee signal strength p=5dbm;
s2: maximum actual communication delay max delta t in each analog terminal of networking real Can reflect the communication effect of networking, max delta t real Smaller means better communication effect, max Δt real The larger the communication effect is, the worse the communication effect is, and therefore, according to max Δt real The numerical value is divided into a communication state set which can be divided into 6 subsets S i Each subset representing a different communication state of the system, S i The values are shown in the following table:
TABLE 1 State set partitioning
| State set S | △t |
| S 1 | [0,20) |
| S 2 | [20,40) |
| S 3 | [40,60) |
| S 4 | [60,80) |
| S 5 | [80,100) |
| S 6 | [100,+∞) |
S3: the Zigbee signal strength needs to set different values P according to the environmental changes, corresponding to the action a that needs to be optimized in the Sarsa algorithm. The interval of the action a can be divided into 5 action sets a according to the Zigbee signal strength i 。A i The values are shown in the following table:
TABLE 2 State set partitioning
S4: selecting an action A according to an epsilon-greedy strategy, namely acting according to the action A with the maximum Q value in the current state in the Q table with epsilon probability, and ensuring the maximum global benefit; the probability of 1-epsilon is used for random action, so that the trapping of local optimum is avoided.
S5: after the selection action, calculating the current time reward R t And updates the Q value table according to the update formula. Rewards R t The method comprises the following steps:
R t ＝(max△t real ) t -(max△t real ) t+1
when the agent takes action A, if the current time tmax actual communication delay (max delta t) in each analog terminal of the networking real ) t The actual communication delay in the former state is reduced, R t Positive rewards are given, and negative rewards are given on the contrary; setting of the rewards drives agent selection such that max Δt real Reduced motion.
S5: repeating the steps 1,2,3 and 4.
(3) Zigbee self-adaptive adjusting module
S1: setting allowable communication delay delta t between initial training data terminals acc =30ms, zigbee signal strength p=5dbm;
s2: after detecting that the equipment sends information, starting a timer;
s3: at Deltat acc In, if the node receives the information response m of all the analog terminals res Indicating successful information transmission and good communication state; calculating the time difference between the information transmission and the latest information response, and recording as max delta t real (representing the maximum delay of this communication), and let Δt acc ＝max△t real ；
S4: if not receiving the information response m of all the analog terminals res Then increase Δt at 5ms intervals acc And repeatedly transmitting the message until message responses m of all analog terminals are received res ；
S5: with max delta t real And (2) selecting the best Zigbee signal strength for the system state quantity by utilizing the Q value table maintained in the reinforcement learning online learning module.
S6: repeating the steps 2,3,4 and 5.
The above ballistic calculation, calculation of strike distance, shot flight time, drop spread, and damage calculation and laser decoding processes belong to conventional technical means in the art, and are not improvements of the present invention.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The universal simulation terminal for the unmanned/unmanned ground vehicle of the self-adaptive networking is characterized by comprising a control host, a vehicle-mounted data terminal, a curved laser receiving probe group, direction-finding angle-finding equipment and a direct aiming transmitter;
the curved laser receiving probe is used for receiving coded laser of the square simulated artillery shot around and transmitting the striking data to the control host for damage calculation;
the direction-finding angle-finding equipment is used for collecting the shooting angle data of the cannon and supporting the automatic collection and manual input of shooting data;
the direct aiming transmitter is used for simulating the direct aiming weapon to emit coding laser;
the control host simulates to automatically calculate a trajectory under the condition of not firing the packaged ammunition according to the collected shooting angle data of the artillery; information interaction with the curved laser receiving probe set, the direct aiming transmitter, information interaction with a building simulation terminal and an individual harness simulation terminal, receiving coded laser of the direct aiming transmitter and finishing decoding; simulating the firing and hit effects of the cannon;
the vehicle-mounted data terminal is connected with the control host, and is in information interaction with the work building simulation terminal, the individual soldier harness simulation terminal, the individual weapon simulation terminal, the explosive simulation terminal and the gas mask simulation terminal, and when rescue is needed, the vehicle-mounted data terminal is in information interaction with the medical service rescue simulation terminal; for the manned carrier, the passenger holding operation of the carrier is connected with the control host, so that the information interaction between the control host and the comprehensive pilot system, the data processing system and the information display system is realized; for unmanned vehicles, a control person checks the relevant information such as the attitude angle, the scout video, the position information, the hitting data and the like of the vehicle uploaded to the server by the vehicle-mounted data terminal through the guide terminal; for the carrier equipped with the unmanned aerial vehicle, the vehicle-mounted data terminal can view the unmanned aerial vehicle reconnaissance video and transmit the reconnaissance video back to the server, and view the reconnaissance video at the pilot terminal and the information display system.
2. The universal simulation terminal of the adaptive networking manned/unmanned ground vehicle according to claim 1, wherein the control host comprises a tower type laser receiving probe, a hit effect simulation device and a main control board;
the tower type laser receiving probe set is used for receiving the coded laser of the direct aiming transmitter and finishing decoding;
the hit effect simulation device is integrated with an LED module, a loudspeaker module and a smoke emission device; the LED module simulates the light effect of firing and being shot by the artillery through the combination of different lamplight colors; the loudspeaker module is used for simulating different sound effects of firing and being hit of the artillery; the smoke emission device is integrated to emit smoke with different colors to simulate the firing and the hit smoke effect of the cannon;
the main control board is used for controlling information interaction between the host computer and the simulation terminals such as the curved laser receiving probe group, the direct aiming transmitter, the simulation terminals of the industrial and construction building, the simulation terminals of the individual harness and the like.
3. The universal simulation terminal for the self-adaptive networking manned/unmanned ground vehicle of claim 1, wherein the vehicle-mounted data terminal adopts a reinforcement learning algorithm to learn online based on a ZigBee self-networking mechanism, adjusts ZigBee signal intensity according to communication delay and networking nodes, when the individual-soldier harness simulation terminal enters the networking range of the carrier, the individual-soldier harness simulation terminal is automatically associated with the vehicle to get on, the identity of personnel, the weapon type, ammunition, casualties, communication, positioning, power supply states and information are checked through the vehicle-mounted data terminal, and the killing effect of the carrier on internal personnel and weapons after being hit is simulated; when the universal simulation terminal enters the networking range of the industrial and construction building simulation terminal, the ZigBee is used for automatically associating the industrial and construction building simulation terminal, indoor positioning is obtained, and carrier information, weapon types, ammunition, casualties, communication, positioning and power supply states are uploaded to industrial and construction building simulation terminal equipment.
4. The universal simulation terminal of the self-adaptive networking manned/unmanned ground vehicle according to claim 3, wherein the ZigBee self-networking mechanism adopts a reinforcement learning algorithm to optimize the networking signal intensity between the simulation terminals on line, and specifically comprises the following steps:
setting a bearing node as a coordinator and setting an individual node as a terminal node; the coordinator is responsible for establishing a ZigBee network, sending a network access request when a terminal node approaches the coordinator, and determining whether to allow the terminal node to access the network according to the network resource condition by the coordinator; when networking, the coordinator node and the terminal node are interconnected and nested, so as to realize interconnection and interworking of battlefield information; the superior node transmits the battlefield behavior to the subordinate node;
on-line correcting Zigbee signal intensity by adopting Sarsa algorithm, and setting initial Zigbee signal intensity and system allowable communication delay delta t acc The method comprises the steps of carrying out a first treatment on the surface of the The actual maximum communication delay max delta t of the system real Dividing into multiple state sets S from small to large i The method comprises the steps of carrying out a first treatment on the surface of the Setting different values P for Zigbee signal intensity, and corresponding to an action A needing to be optimized in a Sarsa algorithm; dividing the interval of the action A into a plurality of action sets according to the Zigbee signal intensity; selecting an action A according to an epsilon-greedy strategy, namely acting according to the action A with the maximum Q value in the current state in the Q table with epsilon probability, and ensuring the maximum global benefit; randomly acting with the probability of 1-epsilon to avoid sinking into local optimum;
after the selection action, calculating the current time reward R t Updating the Q value table according to the updating formula; rewards R t The method comprises the following steps:
R t ＝(max△t real ) t -(max△t real ) t+1
if the current time tmax actual communication delay (max delta t) in each analog terminal of networking real ) t The actual communication delay in the former state is reduced, R t Positive rewards are given, and negative rewards are given on the contrary;
setting initial ZigBee signal intensity and system allowable communication delay delta t acc The method comprises the steps of carrying out a first treatment on the surface of the Detecting terminal equipment transmitting information m send Then, starting a timer; at Deltat acc In, if the node receives the information response m res Indicating successful information transmission and good communication state; decrease Δt acc Let Deltat acc＝ max△t real Calculating the actual communication delay time; if not receiving the information response m res Indicating a poor communication state, increasing at set time intervalsLarge t acc And repeatedly transmit information m send Until receiving the message response m res 。
5. The universal simulation terminal of the adaptive networking manned/unmanned ground vehicle according to claim 2, wherein the main control board integrates a Beidou positioning module, a ZigBee module 1, an infrared communication module and an indoor positioning module.
6. The universal simulation terminal of the adaptive networking manned/unmanned ground vehicle according to claim 5, wherein the ZigBee module 1 is configured to transmit damage information to the industrial and building simulation terminal, the individual harness simulation terminal, and other universal simulation terminals after the universal simulation terminal has been hit and damaged.
7. The universal simulation terminal of the adaptive networking manned/unmanned ground vehicle according to claim 1, wherein the vehicle-mounted data terminal is connected with a control host through CAN to USB, and is integrated with a 5.8GHz image transmission module, a ZigBee module 2, a Bluetooth module and a 4G/5G communication module.
8. The universal simulation terminal for the adaptive networking manned/unmanned ground vehicle according to claim 7, wherein the ZigBee module 2 is used for an associated industrial and architecture simulation terminal, an individual harness simulation terminal, an individual carrying equipment simulation terminal, an explosive simulation terminal, a gas mask simulation terminal.
9. The universal simulation terminal of the self-adaptive networking manned/unmanned ground vehicle according to claim 1, wherein the shell of the curved laser receiving probe set adopts a light-gathering curved surface structure and a light-transmitting material, the coded laser emitted from the periphery is gathered to a central position, and the coded laser is communicated with the control host through ZigBee to receive the laser of the batting party simulated cannon and transmit the batting data to the control host.
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