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CN-122021343-A - Missile launching condition multidimensional judgment system based on virtual environment

CN122021343ACN 122021343 ACN122021343 ACN 122021343ACN-122021343-A

Abstract

The invention discloses a missile launching condition multidimensional judgment system based on a virtual environment, which relates to the technical field of aviation man-machine work efficiency intersection, and concretely comprises a data acquisition module, a twin prediction module, a cross-domain fusion module, a launching judgment module and a cabin visualization module, wherein the data acquisition module is used for acquiring six-degree-of-freedom motion data of a loader and physiological state data of an operator in real time through loader equipment to form a real-time data vector, constructing a loader-missile-operator-target quadricycle digital twin model, generating a virtual environment prediction tensor through a Monte Carlo method, splicing the real-time data vector with the virtual environment prediction tensor, carrying out cross-domain fusion through an attention weighting mechanism to output fusion characteristics, outputting comprehensive launching permission probability, a risk vector and an optimal launching window timestamp, and establishing a launching permission judgment mechanism, and displaying a probability cloud chart, a physiological thermodynamic diagram and a virtual trajectory in real time through cabin display equipment.

Inventors

  • NIU XUEJIAO

Assignees

  • 北京世纪晨数据技术有限责任公司

Dates

Publication Date
20260512
Application Date
20260407

Claims (8)

  1. 1. The missile launching condition multi-dimensional judging system based on the virtual environment is characterized by comprising a data acquisition module, a twin prediction module, a cross-domain fusion module, a launching judging module and a cabin visualization module; The data acquisition module is used for acquiring six-degree-of-freedom motion data of the carrier and physiological state data of an operator in real time through carrier equipment to form a real-time data vector; the twin prediction module is used for constructing a carrier-missile-operator-target quadricycle digital twin model and generating a virtual environment prediction tensor through a Monte Carlo method; the cross-domain fusion module is used for splicing the real-time data vector and the virtual environment prediction tensor, carrying out cross-domain fusion through an attention weighting mechanism and outputting fusion characteristics; The emission judging module is used for outputting the comprehensive emission permission probability, the risk dimension vector and the optimal emission window time stamp based on the fusion characteristics, and establishing an emission permission judging mechanism; And the cockpit visualization module is used for displaying the probability cloud image, the physiological thermodynamic diagram and the virtual trajectory in real time through cockpit display equipment.
  2. 2. The virtual environment-based missile launching condition multi-dimensional decision system of claim 1, wherein: the data acquisition module calculates the three-dimensional coordinates of the carrier through the inertial navigation unit and the geocentric coordinate system, and acquires the current carrier height data and the current carrier geographic position data in real time; calculating and extracting current carrier airspeed data in real time through the pneumatic data of a receiver external airspeed tube and a static pressure sensor of the carrier; acquiring pitch angle data and roll angle data of a current carrier and sector angle data relative to an attack target in real time by reading attitude resolving data of a flight control computer; Physiological state data of an operator are collected in real time through a cabin integrated non-contact electroencephalogram head band and a heart rate sensor.
  3. 3. The virtual environment-based missile launching condition multi-dimensional decision system of claim 1, wherein: constructing a four-body digital twin model of a carrier-missile-operator-target in a virtual three-dimensional scene based on real-time data vectors, wherein the four-body digital twin model comprises a carrier twin body, a missile twin body, an operator twin body and a target twin body; the carrier twin body takes the carrier six-degree-of-freedom motion data acquired in real time and environmental parameters as input through a six-degree-of-freedom rigid body dynamic model, and a translation and rotation equation constructed through a Newton-Euler formula is mapped into a carrier complete state vector; The missile twin body takes the current mounting parameters, unhooking conditions and the aerodynamic and propulsion parameters of the missile body as input through a six-degree-of-freedom missile dynamics model, and the current mounting parameters, unhooking conditions and the aerodynamic and propulsion parameters of the missile body are mapped into a complete state vector of the missile through a Newton-Euler equation comprising a aerodynamic coefficient, a thrust model and a proportional navigational law; The operator twin body takes the operator physiological state data acquired in real time as input through a physiological-cognitive mapping model, and maps the operator physiological state data into cognitive load indexes and decision delays through data-driven optimized fuzzy nerves; The target twin body takes the target position and speed data and maneuver uncertainty parameters acquired by the real-time sensor as input through a kinematic model, and maps the target position and speed data and maneuver uncertainty parameters into a target complete state vector through an integral kinematic equation; the four-body digital twin model realizes the interactive coupling among four bodies through a unified simulation engine, and comprises unhooking dynamics constraint of a carrier-missile, a relative motion relation of the missile-target, modulation of an operator cognitive load on decision input and influence of environmental disturbance on each body; the four-body digital twin model carries out self-adaptive real-time state correction through an extended Kalman filter; Generating a virtual environment prediction tensor through a Monte Carlo method comprises the steps of generating probability distribution based on uncertainty factors influencing missile launching, independently sampling 500 virtual track samples, taking the real-time state of a current four-body digital twin model as an initial condition for each sample, forward simulating a dynamic evolution process of 30s in the future in a unified simulation engine with a fixed time step of 0.05s to obtain a missile flight track, hit probability, miss distance, overload condition, operator response time and safety constraint meeting condition corresponding to each sample, and aggregating simulation results to generate the virtual environment prediction tensor.
  4. 4. The virtual environment-based missile launching condition multi-dimensional decision system of claim 1, wherein: performing feature embedding processing on the real-time data vector, and mapping the real-time data vector into embedded features matched with the virtual environment prediction tensor dimension through linear projection; splicing the embedded features with the virtual environment prediction tensor along the sample dimension to form a joint input tensor; Performing cross-domain fusion through a multi-head cross attention mechanism, wherein a Query vector is obtained through linear transformation of embedded features corresponding to the real-time data vector, a Key vector and a Value vector are obtained through linear transformation of the virtual environment prediction tensor, and attention weights are calculated through scaling dot product attention; the multi-head cross attention mechanism comprises 8 attention heads, and multi-head outputs are spliced and then are further fused through a feedforward neural network and residual connection to output fusion characteristics; And performing time sequence dependency capture on the fusion characteristics through the LSTM, and obtaining a fusion result based on the dynamic evolution relation of the current real-time state and the future virtual prediction.
  5. 5. The virtual environment-based missile launching condition multi-dimensional decision system of claim 1, wherein: taking the fusion characteristics as the input of a multi-task neural network output head, and performing multi-task learning by adding a plurality of independent task heads to a shared backbone network, wherein the method specifically comprises the following steps of: mapping the fusion feature into comprehensive emission permission probability through a Sigmoid activation function; Outputting risk dimension vectors through K independent Sigmoid heads, wherein each risk dimension corresponds to a safety risk, a hit risk, a physiological risk, an environmental risk, a platform constraint risk and a task aging risk, and the value range of each risk component is [0,1]; outputting an optimal emission window time stamp through the regression head; An emission permission judging mechanism is established based on the comprehensive emission permission probability, the risk dimension vector and the optimal emission window time stamp, and the emission permission judging mechanism comprises outputting an 'permission to emit' green permission signal when the comprehensive emission permission probability is more than or equal to a preset threshold value 0.85, the maximum value of each component in the risk dimension vector R is less than or equal to a preset threshold value 0.25 and the optimal emission window time stamp is in the current judging period; When the comprehensive emission permission probability is less than a preset threshold value of 0.85, the maximum value of each component in the risk dimension vector R is more than the preset threshold value of 0.25, and the optimal emission window time stamp is not in the current judging period, outputting a red warning signal which is forbidden to emit, otherwise outputting a yellow warning signal which is delayed to emit.
  6. 6. The virtual environment-based missile launching condition multi-dimensional decision system of claim 1, wherein: Displaying the probability cloud picture, the physiological thermodynamic diagram and the virtual trajectory in real time through cabin display equipment; Based on the comprehensive emission permission probability, the risk dimension vector and the virtual environment prediction tensor, the following three visual graphics are generated in real time: Taking the sector angle of the carrier relative to the attack target as an abscissa axis and an ordinate axis, taking the current carrier height or airspeed as an auxiliary dimension, mapping the distribution of the comprehensive emission permission probability in real time through the transition of the color from blue to red through yellow in a 3D thermodynamic diagram form, superposing equal probability contour lines, and displaying the permission probability gradients under different emission directions and occasions; The real-time physiological state data of an operator are mapped into color thermodynamic distribution through a human body contour simplified model, the colors from green, yellow, orange and red correspond to heart rate, heart rate variability, skin conductance and respiration rate respectively, the thermodynamic strength is positively correlated with the degree of deviation of physiological parameters from a normal range, and the local amplification display of physiological index values is supported; Based on the current state of the four-body digital twin model, selecting a successful track in Monte Carlo sampling, rendering missile flight trajectory by semitransparent color line segments, wherein a green track represents a high hit probability path, a yellow track represents a high risk probability path, a red track represents a failure path, and marking key nodes and miss distance statistical information; And the probability cloud map, the physiological thermodynamic diagram and the virtual ballistic trajectory are overlaid and rendered on the multifunctional display and the head-up display of the cockpit in real time through augmented reality.
  7. 7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the module of the virtual environment based missile launching condition multi-dimensional determination system of any one of claims 1 to 6 when the computer program is executed.
  8. 8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements a module of a virtual environment based missile launching condition multi-dimensional determination system as claimed in any one of claims 1 to 6.

Description

Missile launching condition multidimensional judgment system based on virtual environment Technical Field The invention relates to the technical field of aviation man-machine work efficiency intersection, in particular to a missile launching condition multi-dimensional judging system based on a virtual environment. Background The traditional missile launching judging system mainly constructs a dynamic launching envelope by collecting the flying attitude of a carrier and the relative motion vector of a target based on deterministic parameters of a physical domain and an environmental domain. However, in modern high intensity, high dynamic air countermeasure environments, this mode of relying only on "machine-environment" two-dimensional decisions exposes the following significant drawbacks: (1) The operator, as the final executor of the emission decision, whose physiological state directly affects the accuracy of the operation. The prior art cannot identify the emission instructions issued by the operator at the "physiological limit edge", resulting in an increased risk of misemission or missed emission. (2) Conventional launch permissions are typically based on hard logic gates, and cannot automatically adjust decision weights according to the real-time psychological load of the operator, resulting in human-machine collaboration imbalance under extreme stress. The above information disclosed in the background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to a person of ordinary skill in the art. Disclosure of Invention The invention aims to provide a missile launching condition multi-dimensional judging system based on a virtual environment so as to solve the problems in the background technology. In order to achieve the aim, the missile launching condition multi-dimensional judging system based on the virtual environment comprises a data acquisition module, a twin prediction module, a cross-domain fusion module, a launching judging module and a cabin visualization module; The data acquisition module is used for acquiring six-degree-of-freedom motion data of the carrier and physiological state data of an operator in real time through carrier equipment to form a real-time data vector; the twin prediction module is used for constructing a carrier-missile-operator-target quadricycle digital twin model and generating a virtual environment prediction tensor through a Monte Carlo method; the cross-domain fusion module is used for splicing the real-time data vector and the virtual environment prediction tensor, carrying out cross-domain fusion through an attention weighting mechanism and outputting fusion characteristics; The emission judging module is used for outputting the comprehensive emission permission probability, the risk dimension vector and the optimal emission window time stamp based on the fusion characteristics, and establishing an emission permission judging mechanism; And the cockpit visualization module is used for displaying the probability cloud image, the physiological thermodynamic diagram and the virtual trajectory in real time through cockpit display equipment. As a preferable scheme of the missile launching condition multi-dimensional judging system based on the virtual environment, the missile launching condition multi-dimensional judging system based on the virtual environment comprises the following components: calculating three-dimensional coordinates of the carrier through the inertial navigation unit and the geocentric coordinate system, and acquiring current carrier height data and current carrier geographic position data in real time; calculating and extracting current carrier airspeed data in real time through the pneumatic data of a receiver external airspeed tube and a static pressure sensor of the carrier; acquiring pitch angle data and roll angle data of a current carrier and sector angle data relative to an attack target in real time by reading attitude resolving data of a flight control computer; The physiological state data of an operator are collected in real time through the cabin integration of a non-contact electroencephalogram head belt and a heart rate sensor; The operator physiological state data includes heart rate, heart rate variability, skin conductance, respiration rate, eye gaze point coordinates. As a preferable scheme of the missile launching condition multi-dimensional judging system based on the virtual environment, the missile launching condition multi-dimensional judging system based on the virtual environment comprises the following components: constructing a four-body digital twin model of a carrier-missile-operator-target in a virtual three-dimensional scene based on real-time data vectors, wherein the four-body digital twin model comprises a carrier twin body, a missile twin body, an operator twin body and a target twin