CN116627053B - Semi-physical simulation system of unmanned platform cluster communication network - Google Patents
Semi-physical simulation system of unmanned platform cluster communication network Download PDFInfo
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Abstract
The invention relates to the technical field of wireless communication networks, in particular to a semi-physical simulation system of an unmanned platform cluster communication network, which comprises a ground measurement and control system, a simulation platform and a plurality of simulation navigation control systems; the simulation platform is respectively connected with the ground measurement and control system and each simulated navigation control system; the ground measurement and control system sends the generated control instruction to the simulated navigation control system of the node through the simulation platform; each simulation navigation control system corresponds to one unmanned platform respectively, and position/state information of the unmanned platform is acquired and sent to the simulation platform; the ground measurement and control system receives the position/state information through the simulation platform, generates a position parameter adjustment instruction and sends the position parameter adjustment instruction to the simulation platform, and updates and simulates the position/state parameters of corresponding nodes in the navigation control system. The system provided by the invention enables the unmanned platform cluster in the semi-physical simulation environment to synchronously update the position information of each node in the simulation platform in a remote control mode or an autonomous navigation mode.
Description
Technical Field
The invention relates to the technical field of wireless communication networks, in particular to a semi-physical simulation system of an unmanned platform cluster communication network.
Background
The unmanned platform is mainly represented by three types of platforms, such as unmanned aerial vehicle, unmanned ship and the like. The method has the advantages of multiple purposes, convenience in assembly, strong environmental adaptability, low cost and the like, and is widely focused and applied in the military and civil fields.
Compared with a single unmanned platform, the multi-unmanned platform cooperative application has the advantages of higher expandability, stronger survivability, faster task completion and the like, but with the increase of the number of unmanned platforms, a plurality of problems are brought, and one important problem is that the performance of the unmanned platform cluster communication network is difficult to effectively evaluate.
The current evaluation means for the performance of the communication network mainly comprises software simulation, physical test and semi-physical simulation. The software simulation realizes the protocol functions of each layer by establishing a network scene, and sets various network parameters to complete network performance evaluation of different scales and complexity, but the software simulation generally needs mathematical modeling of network equipment and network protocols, so that complex service application in an actual network cannot be simulated, and the evaluation result is difficult to approach to the actual situation; the physical test builds a test environment through hardware equipment, and reliable and visual data can be directly obtained, but when the large-scale network such as an unmanned platform cluster is faced, the cost and the complexity for building the physical test environment are high, the implementation difficulty is high, the test period is long, and the performance of the unmanned platform cluster communication network is difficult to evaluate efficiently; the semi-physical simulation is a simulation method for connecting partial physical objects of a researched system to a simulation loop and connecting the simulation loop and the simulation loop to form a system for testing, combines the advantages of physical testing and pure software simulation, can ensure the scale and the credibility of network simulation, and can verify the performance of a communication network through bearing actual service application.
However, in the prior art, when the unmanned platform cluster communication network is subjected to semi-physical simulation, the situations that the communication link state continuously changes in the process of sailing to a target position after the unmanned platform receives a control instruction sent by the ground measurement and control system, the network topology changes due to formation transformation during autonomous collaborative sailing of the unmanned platform are required to be considered. However, the existing network simulation software only supports preloading a scene design file or planning navigation paths of all nodes in advance, and cannot support communication network simulation that the movable unmanned cluster is accessed to a simulation platform in a physical form.
Disclosure of Invention
The invention provides a semi-physical simulation system of an unmanned platform cluster communication network, which is used for solving the defect that the performance of the unmanned platform cluster communication network is difficult to evaluate effectively in the prior art, so that the position information of each node can be updated synchronously in a simulation platform under a remote control mode or an autonomous navigation mode of the unmanned platform cluster in a semi-physical simulation environment.
The invention provides a semi-physical simulation system of an unmanned platform cluster communication network, which comprises a ground measurement and control system, a simulation platform and a plurality of simulated navigation control systems;
the simulation platform is respectively connected with the ground measurement and control system and each simulated navigation control system;
The ground measurement and control system sends the generated control instruction to the simulation platform, and the simulation platform sends the control instruction to the simulation navigation control system of the corresponding node to control the corresponding simulation navigation control system to execute preset actions;
Each simulation navigation control system corresponds to one unmanned platform respectively, acquires the position/state information of the corresponding unmanned platform in real time, and sends the position/state information to the simulation platform; the ground measurement and control system also receives the position/state information through the simulation platform, generates a position parameter adjustment instruction based on the position/state information, sends the position parameter adjustment instruction to the simulation platform, and updates and simulates the position/state parameters of corresponding nodes in the navigation control system through the simulation platform.
According to the semi-physical simulation system of the unmanned platform cluster communication network, which is provided by the invention, the simulation platform comprises a semi-physical access subsystem and a simulation calculation subsystem;
After the ground measurement and control system generates a control instruction and sends the control instruction to the semi-physical access subsystem, the semi-physical access subsystem converts the control instruction message into a simulation data packet, and sends the simulation data packet to a ground measurement and control system mapping node in the simulation calculation subsystem, forwards the simulation data packet to a simulation navigation control system mapping node in the simulation calculation subsystem, and sends the simulation data packet to the semi-physical access subsystem through the simulation navigation control system mapping node;
the semi-physical access subsystem converts the simulation data packet into a control instruction and sends the control instruction to the corresponding simulation navigation control system through the semi-physical interface.
According to the semi-physical simulation system of the unmanned platform cluster communication network, the simulated navigation control system periodically generates position/state information and sends the position/state information to a semi-physical access subsystem of the simulation platform;
The semi-physical access subsystem converts the position/state information into a simulation data packet; sending the simulation data packet to a simulation navigation control system mapping node in a simulation calculation subsystem; forwarding the simulation data packet to a ground measurement and control system mapping node in the simulation calculation subsystem;
The ground measurement and control system mapping node transmits the simulation data packet to the semi-physical access subsystem, and the semi-physical access subsystem converts the simulation data packet into position/state information and transmits the position/state information to the ground measurement and control system through a semi-physical interface.
According to the semi-physical simulation system of the unmanned platform cluster communication network, the ground measurement and control system analyzes and processes the position/state information to generate the position parameter adjustment instruction, the position parameter adjustment instruction is sent to the semi-physical access subsystem, the semi-physical access subsystem converts the position parameter adjustment instruction into a simulation control instruction and sends the simulation control instruction to the simulation calculation subsystem, and the simulation calculation subsystem updates the position parameter of the corresponding mapping node in the simulation navigation control system after receiving the simulation control instruction.
The invention also provides a semi-physical simulation method based on the semi-physical simulation system, which comprises the following steps:
the ground measurement and control system generates a control instruction and sends the control instruction to the simulation platform, and the simulation platform sends the control instruction to the simulation navigation control system of the corresponding node to control the corresponding simulation navigation control system to execute a preset action;
the ground measurement and control system acquires the position/state information of the unmanned platform through the simulation platform, generates a position/state adjustment instruction based on the position/state information of the unmanned platform, and sends the position/state adjustment instruction to the simulation platform.
The invention also provides a semi-physical simulation method based on the semi-physical simulation system, which comprises the following steps:
The simulation navigation control system acquires a control instruction from the simulation platform through a corresponding interface and controls a corresponding unmanned platform to execute a preset action;
the simulation navigation control system acquires the position/state information of the corresponding unmanned platform and uploads the position/state information to the simulation platform;
The simulation platform receives a position/state adjustment instruction generated based on the position/state information, and updates the position parameters of the mapping nodes of the simulated navigation control system in the simulation platform based on the position/state adjustment instruction.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when the program is executed.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the methods described above.
The semi-physical simulation system of the unmanned platform cluster communication network provided by the invention has at least the following technical effects:
1) The advantages of physical test and pure software simulation are combined through semi-physical simulation, so that the scale and the credibility of network simulation can be ensured, and meanwhile, the performance of a communication network can be verified through bearing actual service application;
2) The method has the advantages that the conditions that the communication link state continuously changes in the process of sailing to a target position after the unmanned platform receives the control instruction sent by the ground measurement and control system, the network topology changes due to formation transformation during autonomous collaborative sailing of the unmanned clusters are considered, information interaction between the ground measurement and control system and the simulated navigation control system is achieved through the simulation platform, the simulated navigation control system is used for replacing a real unmanned platform, corresponding actions can be simulated and executed after the control instruction sent by the ground measurement and control system is received, simulated state information is automatically generated and reported to the ground measurement and control system periodically, information transmission is timely and accurate, and the position information of each unmanned platform can be synchronously updated in the simulation platform.
3) The movable unmanned platform cluster is supported to be accessed to the communication network simulation of the simulation platform in a physical form, and even if the unmanned platform cluster is in a remote control mode or an autonomous navigation mode, the position/state information of the unmanned platform can be synchronized in real time.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow diagram of a semi-physical simulation system of an unmanned platform cluster communication network provided by the invention;
FIG. 2 is a second flow chart of a semi-physical simulation system of an unmanned platform cluster communication network provided by the invention;
fig. 3 is a schematic structural diagram of a semi-physical simulation system of an unmanned platform cluster communication network according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "comprising" and "having" and any variations thereof in the description and claims of the application and in the foregoing drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or modules is not limited to only those steps or modules but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the term "first/second" related to the present invention is merely to distinguish similar objects, and does not represent a specific order for the objects, and it should be understood that "first/second" may interchange a specific order or precedence where allowed. It is to be understood that the "first\second" distinguishing aspects may be interchanged where appropriate to enable embodiments of the invention described herein to be implemented in sequences other than those described or illustrated herein.
In one embodiment, as shown in fig. 1-2, the invention provides a semi-physical simulation system of an unmanned platform cluster communication network, which comprises a ground measurement and control system, a simulation platform and a plurality of simulated navigation control systems;
the simulation platform is respectively connected with the ground measurement and control system and each simulated navigation control system;
The ground measurement and control system sends the generated control instruction to the simulation platform, and the simulation platform sends the control instruction to the simulation navigation control system of the corresponding node to control the corresponding simulation navigation control system to execute preset actions;
Each simulation navigation control system corresponds to one unmanned platform respectively, acquires the position/state information of the corresponding unmanned platform in real time, and sends the position/state information to the simulation platform; the ground measurement and control system also receives the position/state information through the simulation platform, generates a position parameter adjustment instruction based on the position/state information, sends the position parameter adjustment instruction to the simulation platform, and updates and simulates the position/state parameters of corresponding nodes in the navigation control system through the simulation platform.
Preferably, the simulation platform is VRNET Developer simulation platform for providing an integrated development environment, a network simulation engine and a semi-physical access interface, and can store, analyze and evaluate process data and statistic data generated in communication network simulation;
Specifically, as shown in fig. 1, the ground measurement and control system has the main functions of realizing the control of a plurality of unmanned platforms by sending control instructions to the unmanned platforms and realizing the state monitoring of the unmanned platforms by receiving and processing the position/state information reported by the unmanned platforms; according to the semi-physical simulation system of the unmanned platform cluster communication network, which is provided by the invention, the simulation platform comprises a semi-physical access subsystem and a simulation calculation subsystem;
After the ground measurement and control system generates a control instruction and sends the control instruction to the semi-physical access subsystem, the semi-physical access subsystem converts the control instruction message into a simulation data packet, and sends the simulation data packet to a ground measurement and control system mapping node in the simulation calculation subsystem, forwards the simulation data packet to a simulation navigation control system mapping node in the simulation calculation subsystem, and sends the simulation data packet to the semi-physical access subsystem through the simulation navigation control system mapping node;
the semi-physical access subsystem converts the simulation data packet into a control instruction and sends the control instruction to the corresponding simulation navigation control system through the semi-physical interface.
Specifically, as shown in fig. 2, the unmanned platform simulation navigation control system is used for replacing a real unmanned platform, performing information interaction with the ground measurement and control system through a simulation communication network, performing simulation execution of corresponding actions after receiving a control instruction issued by the ground measurement and control system, and automatically generating simulation state information and periodically reporting the simulation state information to the ground measurement and control system; according to the semi-physical simulation system of the unmanned platform cluster communication network, the simulated navigation control system periodically generates position/state information and sends the position/state information to a semi-physical access subsystem of the simulation platform;
The semi-physical access subsystem converts the position/state information into a simulation data packet; sending the simulation data packet to a simulation navigation control system mapping node in a simulation calculation subsystem; forwarding the simulation data packet to a ground measurement and control system mapping node in the simulation calculation subsystem;
The ground measurement and control system mapping node transmits the simulation data packet to the semi-physical access subsystem, and the semi-physical access subsystem converts the simulation data packet into position/state information and transmits the position/state information to the ground measurement and control system through a semi-physical interface.
Specifically, as shown in fig. 2, in the invention, the ground measurement and control system also needs to send the collected unmanned platform position information to VRNET Developer simulation platform, so that VRNETDeveloper simulation platform can update the position information of the network node in real time in the simulation process; according to the semi-physical simulation system of the unmanned platform cluster communication network, the ground measurement and control system analyzes and processes the position/state information to generate the position parameter adjustment instruction, the position parameter adjustment instruction is sent to the semi-physical access subsystem, the semi-physical access subsystem converts the position parameter adjustment instruction into a simulation control instruction and sends the simulation control instruction to the simulation calculation subsystem, and the simulation calculation subsystem updates the position parameter of the corresponding mapping node in the simulation navigation control system after receiving the simulation control instruction.
The invention solves the problem that the position information of each node can not be updated synchronously in the simulation platform under the remote control mode or the autonomous navigation mode of the unmanned cluster in the semi-physical simulation environment through the system composition and the service flow.
In a specific embodiment, as shown in fig. 3, the semi-physical simulation system consists of 1 set VRNET Developer of simulation platforms, 1 set of unmanned cluster ground measurement and control systems and 8 sets of unmanned platform simulation navigation control systems; through the semi-physical access interface, the data interaction processing between virtual and real devices can be realized.
The simulation navigation control system of the 8 sets of unmanned aerial vehicle platforms is used for simulating the motion process and the position/state information report function of the 8 sets of real unmanned aerial vehicle platforms respectively, simulating and executing corresponding actions after receiving control instructions sent by the ground measurement and control system, periodically sending own position and state information to the ground measurement and control system, and carrying out information interaction between the simulation navigation control system and the ground measurement and control system and between the simulation navigation control systems through a simulation communication network.
In the process of issuing a control instruction to an unmanned platform simulation navigation control system by a ground measurement and control system, as shown in fig. 1, the method specifically comprises the following steps:
Taking the operation of the simulation navigation control system 1 as an example, a user controls the simulation navigation control system 1 through the ground measurement and control system, the ground measurement and control system generates a control instruction message and then sends the control instruction message to a semi-physical access subsystem in a VRNET Developer simulation platform, the semi-physical access subsystem converts the control instruction message into a simulation data packet and sends the simulation data packet to a ground measurement and control system mapping node in the simulation calculation subsystem, the simulation data packet is forwarded to a simulation navigation control system 1 mapping node in the simulation calculation subsystem, the simulation data packet is sent to the semi-physical access subsystem through the mapping node of the simulation navigation control system 1, the semi-physical access subsystem converts the simulation data packet into the control instruction message and then sends the control instruction message to the simulation navigation control system 1 through a corresponding semi-physical interface, and the simulation navigation control system 1 performs corresponding actions in a simulation manner after receiving the control instruction message;
It should be noted that the above is only a further illustration of the present invention, and the flow of issuing the control instruction to the other 7 sets of simulated navigation control systems by the ground measurement and control system is consistent with the above flow; in addition, the invention does not limit the upper limit of the number of the simulated navigation control systems and the number of the accessed unmanned platforms, and the specific number depends on the scale of the unmanned platform cluster network and the equipment precision and is selected according to the actual requirements;
in the process of reporting the position/state information of the unmanned platform by the simulated navigation control system, as shown in fig. 2, the method specifically includes:
The simulation navigation control system 1 periodically generates a position/state information message and sends the position/state information message to a semi-physical access subsystem in the VRNET Developer simulation platform, the semi-physical access subsystem converts the message into a simulation data packet and sends the simulation data packet to a mapping node of the simulation navigation control system 1 in the simulation calculation subsystem, the simulation data packet is forwarded to a mapping node of a ground measurement and control system in the simulation calculation subsystem, the mapping node of the ground measurement and control system sends the simulation data packet to the semi-physical access subsystem, and the semi-physical access subsystem converts the simulation data packet into a position/state information message and then sends the position/state information message to the ground measurement and control system through a semi-physical interface;
further, the ground measurement and control system analyzes and processes the position/state message to generate a position parameter adjustment instruction message, and sends the position parameter adjustment instruction message to the semi-physical access subsystem, the semi-physical access subsystem converts the message format into a simulation control instruction and sends the simulation control instruction to the simulation calculation subsystem, and the simulation calculation subsystem updates the position parameter of the mapping node of the simulation navigation control system 1 after receiving the control instruction; similarly, the flow of reporting the position/state information of the other 7 sets of simulation navigation control systems is consistent with the flow;
The simulated navigation control systems 1-8 shown in fig. 3 are connected to the VRNET Developer simulation platform through the network ports 1-8, and can be regarded as mapping nodes of the corresponding simulated navigation control systems in the VRNET Developer simulation platform; the ground measurement and control system is connected to the VRNET Developer simulation platform through a network port 9 and is regarded as a ground measurement and control system mapping node in the VRNET Developer simulation platform.
On the other hand, the invention also provides a semi-physical simulation method based on the semi-physical simulation system, and the method realizes the control of the unmanned platform in the process that the ground measurement and control system issues a control instruction to the unmanned platform simulation navigation control system, and comprises the following steps:
the ground measurement and control system generates a control instruction and sends the control instruction to the simulation platform, and the simulation platform sends the control instruction to the simulation navigation control system of the corresponding node to control the corresponding simulation navigation control system to execute a preset action;
the ground measurement and control system acquires the position/state information of the unmanned platform through the simulation platform, generates a position/state adjustment instruction based on the position/state information of the unmanned platform, and sends the position/state adjustment instruction to the simulation platform.
In still another aspect, the present invention further provides a semi-physical simulation method based on the semi-physical simulation system, where in a process of reporting position/state information of an unmanned platform by a simulated navigation control system, the simulated platform adjusts position parameters of mapping nodes of the simulated navigation control system according to an adjustment instruction, including:
The simulation navigation control system acquires a control instruction from the simulation platform through a corresponding interface and controls a corresponding unmanned platform to execute a preset action;
the simulation navigation control system acquires the position/state information of the corresponding unmanned platform and uploads the position/state information to the simulation platform;
The simulation platform receives a position/state adjustment instruction generated based on the position/state information, and updates the position parameters of the mapping nodes of the simulated navigation control system in the simulation platform based on the position/state adjustment instruction.
The present invention also provides an electronic device, which may include: a processor (processor), a communication interface (Communications Interface), a memory (memory), and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus. The processor may call logic instructions in memory to perform the steps of the simulation method provided by the methods described above.
Further, the logic instructions in the memory described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of performing the steps of the simulation method provided by the methods described above.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the simulation method provided by the methods described above.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The semi-physical simulation system of the unmanned platform cluster communication network is characterized by comprising a ground measurement and control system, a simulation platform and a plurality of simulation navigation control systems;
the simulation platform is respectively connected with the ground measurement and control system and each simulated navigation control system;
The ground measurement and control system sends the generated control instruction to the simulation platform, and the simulation platform sends the control instruction to the simulation navigation control system of the corresponding node to control the corresponding simulation navigation control system to execute preset actions;
each simulation navigation control system corresponds to one unmanned platform respectively, acquires the position/state information of the corresponding unmanned platform in real time, and sends the position/state information to the simulation platform; the ground measurement and control system also receives the position/state information through the simulation platform, generates a position parameter adjustment instruction based on the position/state information and sends the position parameter adjustment instruction to the simulation platform, and updates and simulates the position/state parameters of corresponding nodes in the navigation control system through the simulation platform;
the simulation platform comprises a semi-physical access subsystem and a simulation calculation subsystem;
After the ground measurement and control system generates a control instruction and sends the control instruction to the semi-physical access subsystem, the semi-physical access subsystem converts the control instruction message into a simulation data packet, and sends the simulation data packet to a ground measurement and control system mapping node in the simulation calculation subsystem, forwards the simulation data packet to a simulation navigation control system mapping node in the simulation calculation subsystem, and sends the simulation data packet to the semi-physical access subsystem through the simulation navigation control system mapping node;
The semi-physical access subsystem converts the simulation data packet into a control instruction and sends the control instruction to a corresponding simulation navigation control system through a semi-physical interface;
The ground measurement and control system analyzes and processes the position/state information to generate a position parameter adjustment instruction, and sends the position parameter adjustment instruction to the semi-physical access subsystem, the semi-physical access subsystem converts the position parameter adjustment instruction into a simulation control instruction and sends the simulation control instruction to the simulation calculation subsystem, and the simulation calculation subsystem updates the position parameter of a corresponding mapping node in the simulation navigation control system after receiving the simulation control instruction.
2. The semi-physical simulation system of an unmanned platform cluster communication network of claim 1, wherein the simulated navigational control system periodically generates position/status information to be transmitted to the semi-physical access subsystem of the simulation platform;
The semi-physical access subsystem converts the position/state information into a simulation data packet; sending the simulation data packet to a simulation navigation control system mapping node in a simulation calculation subsystem; forwarding the simulation data packet to a ground measurement and control system mapping node in the simulation calculation subsystem;
The ground measurement and control system mapping node transmits the simulation data packet to the semi-physical access subsystem, and the semi-physical access subsystem converts the simulation data packet into position/state information and transmits the position/state information to the ground measurement and control system through a semi-physical interface.
3. A semi-physical simulation method based on the system of any of claims 1-2, comprising:
the ground measurement and control system generates a control instruction and sends the control instruction to the simulation platform, and the simulation platform sends the control instruction to the simulation navigation control system of the corresponding node to control the corresponding simulation navigation control system to execute a preset action;
the ground measurement and control system acquires the position/state information of the unmanned platform through the simulation platform, generates a position/state adjustment instruction based on the position/state information of the unmanned platform, and sends the position/state adjustment instruction to the simulation platform.
4. A semi-physical simulation method based on the system of any of claims 1-2, comprising:
The simulation navigation control system acquires a control instruction from the simulation platform through a corresponding interface and controls a corresponding unmanned platform to execute a preset action;
the simulation navigation control system acquires the position/state information of the corresponding unmanned platform and uploads the position/state information to the simulation platform;
The simulation platform receives a position/state adjustment instruction generated based on the position/state information, and updates the position parameters of the mapping nodes of the simulated navigation control system in the simulation platform based on the position/state adjustment instruction.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of claim 4 when the program is executed by the processor.
6. A non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method according to claim 4.
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| CN202310641367.0A CN116627053B (en) | 2023-05-29 | 2023-05-29 | Semi-physical simulation system of unmanned platform cluster communication network |
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| CN202310641367.0A CN116627053B (en) | 2023-05-29 | 2023-05-29 | Semi-physical simulation system of unmanned platform cluster communication network |
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