CN-117628978-B - General analog terminal of self-adaptation networking's unmanned/manned ground carrier

CN117628978BCN 117628978 BCN117628978 BCN 117628978BCN-117628978-B

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, a direction finding and angle measuring device and a direct view transmitter, wherein the curved laser receiving probe is used for receiving coded lasers of all-around shot striking-side simulation artillery and transmitting striking data to the control host for damage calculation, the direction finding and angle measuring device is used for collecting shooting angle data of the artillery, the direct view transmitter is used for simulating the direct view weapon to emit the coded lasers, the control host is connected with a real fire control device through a CAN fire control bus and collects shooting angle and other data, and the data such as striking distance, shot flight time, single drop scattering and the like are simulated and calculated under the condition of not shooting the real ammunition. The invention can provide reliable guarantee for the accurate evaluation of the simulated battlefield damage efficiency of the battle test system.

Inventors

CHEN YUE
XIE MAOMAO
RUAN JINJIN
ZHANG XIAOXIANG
HAN HAOLIANG
LIN WEI
YOU YONG
LI MINGYANG
GUO YONG
HONG TING
LIU ZHANZHAN
HOU LEI
HUANG JIE
GUO CONGCONG
CAO WEI
SHAO YONGGUI
ZHUANG XIANGRU

Assignees

北方信息控制研究院集团有限公司

Dates

Publication Date: 20260512
Application Date: 20231205

Claims (7)

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 set is used for receiving coded laser of the striking-side simulated artillery shot from the periphery, and transmitting 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 real ammunition according to the shot firing angle data of the collected artillery, and receives the coded laser of the direct aiming transmitter and finishes decoding, and simulates the firing and hit effects of the artillery; 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 the unmanned aerial vehicle, the control personnel can check the unmanned aerial vehicle reconnaissance video through the pilot terminal and transmit the reconnaissance video back to the server, and check the back transmission video at the pilot terminal and the information display system; The vehicle-mounted data terminal adopts a reinforcement learning algorithm to learn online based on a ZigBee ad hoc network mechanism, adjusts the ZigBee signal intensity according to the communication delay and the networking node, when the individual harness simulation terminal enters the networking range of the vehicle, the method comprises the steps of automatically associating a single-soldier harness simulation terminal to get on a vehicle through ZigBee, checking personnel identity, weapon type, ammunition, casualties, communication, positioning, power supply state and information through a vehicle-mounted data terminal, and simulating the killing effect of the vehicle on internal personnel and weapons after the vehicle is hit; when the universal simulation terminal enters the networking range of the industrial and institutional building simulation terminal, automatically associating the industrial and institutional building simulation terminal through ZigBee, acquiring indoor positioning, and uploading carrier information, weapon types, ammunition, casualties, communication, positioning and power supply states to industrial and institutional building simulation terminal equipment; the ZigBee Ad hoc network mechanism adopts a reinforcement learning algorithm to optimize the networking signal intensity between analog terminals on line, and specifically comprises the following steps: The method comprises the steps of setting a bearing node as a coordinator and setting an individual soldier node as a terminal node, wherein the coordinator is responsible for establishing a ZigBee network, sending a network access request when the terminal node is close to the coordinator, and determining whether to allow the terminal node to access the network according to the condition of network resources by the coordinator; The Zigbee signal intensity is corrected on line by adopting a Sarsa algorithm, an initial Zigbee signal intensity and a system allowable communication delay Deltat acc are set, the system actual maximum communication delay Deltat real is divided into a plurality of state sets S i from small to large, different values P are set for the Zigbee signal intensity, the values correspond to an action A which needs to be optimized in the Sarsa algorithm, the interval of the action A is divided into a plurality of action sets according to the Zigbee signal intensity, the action A is selected according to an epsilon-greedy strategy, namely the action A which takes action according to the maximum Q value in the current state in a Q table with epsilon probability, the global income is guaranteed to be maximum, the action takes randomly with the probability of 1 epsilon, and the action A is prevented from falling into local optimum; After the action is selected, calculating a current time prize R t , and updating the Q value table according to an updating formula, wherein the prize R t is set as follows: R t = (max△t real ) t - (max△t real ) t+1 If the maximum actual communication delay (the actual communication delay in the state of max delta t real ) t is reduced compared with the last state) at the current moment tmax in each analog terminal of the networking, R t is positive rewarding, otherwise, negative rewarding; Setting initial ZigBee signal intensity and system allowable communication delay Deltat acc , starting a timer after detecting that terminal equipment sends information m send , in Deltat acc , if a node receives an information response m res , indicating that information sending is successful, the communication state is good, reducing Deltat acc , enabling Deltat acc= max△t real and calculating the actual communication delay, if no information response m res is received, increasing t acc at set time intervals, and repeatedly sending information m send until the information response m res is received.
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 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, wherein the LED module simulates the light effect of the firing and hit of the cannon through the combination of different lamplight colors; The main control board is used for controlling information interaction between the host and the curved laser receiving probe group and information interaction between the host and the direct aiming transmitter as well as between the host and the engineering building simulation terminal and between the host and the individual harness simulation terminal.
3. The universal simulation terminal of the self-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.
4. A universal simulation terminal for an adaptive networking manned/unmanned ground vehicle according to claim 3, wherein the ZigBee module 1 is configured to transmit damage information to a building simulation terminal, an individual harness simulation terminal, and other universal simulation terminals after the universal simulation terminal has been hit and damaged.
5. 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.
6. The universal simulation terminal for the adaptive networking manned/unmanned ground vehicle according to claim 5, 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.
7. 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, and the coded laser emitted from the periphery is gathered to a central position, is communicated with a control host through ZigBee, and is used for receiving the laser of the batting party simulated cannon and transmitting the batting data to the control host.

Description

General analog terminal of self-adaptation networking's unmanned/manned ground carrier 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 carrier simulation terminal has no universality, the exploration of the unmanned carrier simulation terminal and the unmanned/manned convertible carrier simulation terminal is relatively less, when networking interconnection operation is carried out among a plurality of simulation terminals, the signal strength is fixed, the influence of factors such as communication distance, interference and the like is difficult to adapt, the stability of connection among the simulation 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 real ammunition according to the shot firing angle data of the collected artillery, and receives the coded laser of the direct aiming transmitter and finishes decoding, and simulates the firing and hit effects of the artillery; The vehicle-mounted data terminal is connected with the control host, is in information interaction with the work building simulation terminal, the individual soldier tool simulation terminal, the individual soldier weapon simulation terminal, the explosive simulation terminal and the gas mask simulation terminal, and is in information interaction with the medical service rescue simulation terminal when rescue is needed, is connected with the control host through the holding operation of a passenger of the carrier for a manned carrier, and is used for realizing information interaction between the control host and the comprehensive guiding and adjusting system, the data processing system and the information display system, and is used for checking relevant information such as a carrier posture angle, a detection video, position information and hitting data uploaded to a server by the vehicle-mounted data terminal through the guiding and adjusting terminal for an unmanned carrier, and checking the unmanned aerial vehicle-mounted data terminal for the carrier equipped with the unmanned aerial vehicle, returning the unmanned aerial vehicle detection video to the server, and checking the returned video at the guiding and adjusting terminal and the information display system. Compared with the prior art, the invention has the remarkable advantages that: (1) The unmanned aerial vehicle is characterized in that a modularized architecture and a generalized design are adopted, direction finding and angle measuring equipment can be installed on a vehicle with gun striking capability, a controller can check relevant information such as a vehicle posture angle, a reconnaissance video, position information, striking data and the like uploaded to a server through a pilot terminal on an unmanned aerial vehicle, and the vehicle can check an unmanned aerial vehicle reconnaissance video at 5.8GHz and transmit the reconnaissance video back to the server on the pilot terminal and an information display system on the ve