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采用基于Service oriented architecture(SOA)的集成框架实现了仿真环境中无人机系统的通用任务规划模块功能的集成.给出了具有系统之系统特点的多无人机综合仿真环境UAVSSE体系结构设计和多层次集成方法.将任务规划功能模决抽象为任务规划服务,基于Web Services技术实现通用的任务规划服务封装.利用注册、发现和绑定机制,任务规划功能能够动态地集成进仿真运行,并能为多架无人机和多个地面系统的仿真提供任务规划服务.通过综合仿真环境中的原型系统验证了相关技术,结果表明基于面向服务方法的任务规划集成能够为多UAV仿真环境提供有效的任务规划功能集成,弥补了HLA在构建动态“系统之系统”仿真中的不足,并能为未来的仿真系统和真实UAV一体化运行提供借鉴.“,”UAVSEE was developed as a System-of-Systems (SoS) simulation environment for Unmanned Air Vehicles (UAVs). The architecture and multi-layer integrating ofUAVSSE were introduced. Service oriented method (SOA) was proposed to the mission planning integrating in the context of UAVs simulation. An integrating framework based on SOA was designed to integrate common mission planning for the simulated vehicle and ground control system in UAVs simulation. Mission planning module was abstracted as a service, and encapsulated as common mission planning service through Web Services technology. With registration, discovering and binding, planning function could be dynamically integrated in simulation without changing other systems, and one planning system simultaneously could serve multi vehicles and ground control systems in simulation. Related technologies were demonstrated in the prototype simulation system. The experimental result shows that service oriented integrating will provide more efficient and effective mission planning integrating ability than HLA does for UAVs simulation.