CN110674584B - Multi-aircraft joint simulation system - Google Patents
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Abstract
The invention provides a multi-aircraft joint simulation system, which utilizes a data link network subsystem based on OMNeT++ to simulate loads of a multi-aircraft cooperative network; utilizing a scene and situation monitoring subsystem based on STK to perform visual scene simulation and situation display on the collaborative flight of multiple aircrafts; and realizing data interaction between the scene and situation monitoring subsystem and the data link network subsystem through the joint simulation interface. The data link network subsystem based on OMNeT++ is combined with the scene and situation monitoring subsystem based on STK by utilizing the joint simulation interface, so that the information transmission flow of the data link network in the multi-aircraft joint simulation can be simulated, the radio frequency operation environment can be simulated, and the joint simulation of the cooperation among the multiple aircrafts in the laboratory environment is realized.
Description
Technical Field
The invention relates to the technical field of network simulation, in particular to a multi-aircraft joint simulation system based on OMNeT++ and STK simulation platforms.
Background
An aircraft is an instrument that flies in an intra-atmosphere or an extra-atmosphere space. Aircraft include aircraft, spacecraft, and the like. Flying in the atmosphere is known as an aircraft, such as a balloon, airship, airplane, etc. In space flight, the aircraft is called a spacecraft, such as an artificial earth satellite, a manned spacecraft, a space probe, a space plane and the like. The technical problem that how to jointly simulate a plurality of aircrafts is needed to be solved is that the coupling between all subsystems of the aircrafts and between the aircrafts and the external environment is strong.
In the process of realizing the invention, the inventor finds that at least the following technical problems exist in the prior art: the network simulation software can only simulate the information transmission flow of the data link network in the multi-aircraft joint simulation, and cannot simulate the radio frequency operation environment.
Disclosure of Invention
In view of this, the present invention proposes a multi-aircraft joint simulation system based on omnet++ and STK simulation platforms, which is intended to achieve the purpose of joint simulation of collaboration between multiple aircraft in a laboratory environment.
In order to achieve the above object, the following solutions have been proposed:
a multi-aircraft joint simulation system, comprising:
the OMNeT++ based data link network subsystem is used for simulating loads of the multi-aircraft cooperative network;
the scene and situation monitoring subsystem based on the STK is used for carrying out visual scene simulation and situation display on the collaborative flight of the multiple aircrafts; the method comprises the steps of,
and the joint simulation interface is used for data interaction between the scene and situation monitoring subsystem and the data link network subsystem.
Optionally, the joint simulation interface is specifically configured to:
receiving a first data packet sent by the data link network subsystem, and extracting integer data and floating point data from the first data packet;
converting the data extracted from the first data packet into character data, and packaging and transmitting the character data to the scene and situation monitoring subsystem;
receiving a second data packet sent by the scene and situation monitoring subsystem, and extracting character type data from the second data packet;
and converting the data extracted from the second data packet into integer data or floating point data, and packaging and transmitting the integer data or floating point data to the data link network subsystem.
Optionally, the scene and situation monitoring subsystem includes:
a plurality of aircraft models generated based on the STK;
the communication interface is used for being connected with the joint simulation interface;
the data analysis and driving module is used for analyzing the data transmitted by the data link network subsystem to obtain the flight parameters of each aircraft model and generating the control instruction of each aircraft model;
the multi-node real-time module is used for synchronously driving the flight state of each aircraft model according to the control instruction of each aircraft model; and
and the vision demonstration module is used for displaying the flight process of each aircraft model.
Optionally, the scene and situation monitoring subsystem further includes: a three-dimensional model library;
the three-dimensional model library comprises three-dimensional models of atmosphere, starry sky and aircrafts;
the vision demonstration module is further used for displaying the flight process of each aircraft model by utilizing the three-dimensional models in the three-dimensional model library.
Optionally, the scene and situation monitoring subsystem further includes:
and the playback module is used for playing back, accelerating and displaying, decelerating and displaying and jumping the flight process of each aircraft model.
Optionally, the data link network subsystem includes:
the protocol model library comprises an application layer protocol model, a transmission layer protocol model, a network layer protocol model and a link layer protocol model;
a link model library comprising a physical layer channel model;
a movement model library comprising a random movement model and a trajectory movement model; the method comprises the steps of,
a scene model library containing network scenes.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the multi-aircraft joint simulation system provided by the technical scheme, the load of the multi-aircraft cooperative network is simulated by utilizing the OMNeT++ based data link network subsystem; utilizing a scene and situation monitoring subsystem based on STK to perform visual scene simulation and situation display on the collaborative flight of multiple aircrafts; and realizing data interaction between the scene and situation monitoring subsystem and the data link network subsystem through the joint simulation interface. OMNeT++ can be used to simulate any discrete event system, and the OMNeT++ based data link network subsystem enables interconnection between network models of multiple aircraft. The radio frequency operating environment is enabled by the communication module in the STK including a variety of transmitter models and receiver models. The multi-aircraft joint simulation system provided by the invention realizes the combination of the data link network subsystem based on OMNeT++ and the scene and situation monitoring subsystem based on STK by utilizing the joint simulation interface, not only can simulate the information transmission flow of the data link network in the multi-aircraft joint simulation, but also can simulate the radio frequency operation environment, and realizes the joint simulation of the cooperation among the multi-aircraft in the laboratory environment.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a multi-aircraft joint simulation system according to an embodiment of the present invention;
FIG. 2 is a detailed schematic diagram of a multi-aircraft joint simulation system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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 terminology of the inventive design will now be explained in order to facilitate an understanding of the inventive solution:
OMNeT++ (Objective Modular Network Testbed in C ++, modular open network simulation platform based on components) can be used to simulate any discrete event system, including simulation of communication network traffic flows, communication protocol models, parallel systems, multiprocessor systems and distributed systems, to enable interconnection between basic models of network objects, and to enable simple and correct simulation of complex network communications and topologies.
The STK (Systems Tool Kits, satellite simulation tool kit) is used for visual simulation, so that the speed, position, attitude and track curve of the aircraft at any moment can be intuitively reflected, the flight process of the aircraft can be truly simulated, and chart/curve analysis can be conveniently and rapidly carried out, thereby providing basis for rapid test result evaluation and decision making of researchers.
Referring to fig. 1, a multi-aircraft joint simulation system provided for the present embodiment includes: the system comprises an OMNeT++ based data link network subsystem, an STK based scene and situation monitoring subsystem and a joint simulation interface. Wherein,
the OMNeT++ based data link network subsystem is used for simulating loads of the multi-aircraft cooperative network; loads for multi-aircraft cooperative networks include, but are not limited to, wireless communications, data links, and networking.
And the scene and situation monitoring subsystem based on the STK is used for carrying out visual scene simulation and situation display on the collaborative flight of the multiple aircrafts. The communication module assembly in the STK provides a tool for analyzing the performance of a communication system, and the communication module can generate a communication link report, a two-dimensional or three-dimensional graph, calculate system interference such as space loss, rain attenuation, atmospheric loss and the like. The communication module also includes a variety of transmitter models and receiver models that can be configured to the aircraft model. In addition, the communication module also comprises models of various antenna types, and detailed analysis of the communication link characteristics can be realized according to the arrangement of the tracks and the position conditions of the tracks.
And the joint simulation interface is used for data interaction between the OMNeT++ based data link network subsystem and the STK based scene and situation monitoring subsystem. When two systems interact data, the joint simulation interface converts the format of the data packet.
The joint simulation interface performs the specific process of data packet format conversion as follows: when the joint simulation interface receives a first data packet sent by the OMNeT++ based data link network subsystem, namely when the data packet is an AirFrame packet, integer data and floating point data are extracted from structural body data of the AirFrame packet, and then the data extracted from the first data packet are converted into character data and are packaged and transmitted to the STK based scene and situation monitoring subsystem. The data packet transmitted to the STK-based scene and situation monitoring subsystem comprises state data such as frequency points, modulation modes, channel models and the like, and business data such as node IDs, byte numbers and the like.
The state data is used to control the frequency point, modulation scheme, channel model, etc. currently employed by the transmitter and receiver. The service data is mainly used for demodulating the received data packet by the receiver and plays an auxiliary role in correctly analyzing the data packet; the service data packet also contains node ID and byte number, and some statistics or calculation results, such as frame loss, error frame and error rate. The business data is also used to identify the current position and attitude of the aircraft.
The joint simulation interface receives a second data packet sent by the SKT-based scene and situation monitoring subsystem, and character type data is extracted from the second data packet; and converting the character type data extracted from the second data packet into integer type data or floating point type data, and packaging and transmitting the integer type data or floating point type data to the OMNeT++ based data link network subsystem. The data packet transmitted to the OMNeT++ based data link network subsystem contains service data such as position, posture, error rate and the like.
The predefined character type data is converted into integer type data or the predefined character type data is converted into floating point type data. The character type data extracted from the second data packet is converted into integer type data or floating point type data according to a predefined rule in an actual emulation process.
The OMNeT++ based data link network subsystem is combined with the STK based scene and situation monitoring subsystem, has digital simulation capability, and can simulate and verify each layer of protocols of a physical layer, a link layer, a network layer, a transmission layer and an application layer; the system has animation display capability, and can realize scene visual simulation and situation monitoring in the cooperative flight of multiple aircrafts. The OMNeT++ data link network subsystem is provided with a simulation protocol layer, and the STK-based scene and situation monitoring subsystem simulates a physical layer with a modulation mode and also has functions of gesture, position monitoring and the like.
Referring to fig. 2, the STK-based scene and situation monitoring subsystem includes: the system comprises a communication interface, a data analysis and driving module, a multi-node real-time module, a vision demonstration module and a plurality of aircraft models. Wherein,
the aircraft model includes a transmitter model and a receiver model configured by communication components in the STK.
And the communication interface is used for being connected with the joint simulation interface. And receiving the data transmitted by the data link network subsystem.
And the data analysis and driving module is used for analyzing the data transmitted by the data link network subsystem to obtain the flight parameters of each aircraft model and generating the control instruction of each aircraft model.
And the multi-node real-time module is used for synchronously driving the flight states of the aircraft models according to the control instructions of the aircraft models. The multi-node Real-time module synchronously drives the flight status of each aircraft model by calling the RT3 (Real-Time Tracking Technology) extension package of the STK.
And the vision demonstration module is used for displaying the flight process of each aircraft model.
The scene and situation monitoring subsystem may further include: a three-dimensional model library and a playback module. The three-dimensional model library includes three-dimensional models of the atmosphere, starry sky, and aircraft. And the vision demonstration module is also used for displaying the flight process of each aircraft model by utilizing the three-dimensional model in the three-dimensional model library. And the playback module is used for playing back, accelerating and displaying, decelerating and displaying and jumping the flight process of each aircraft model.
Referring to fig. 2, an omnet++ based data link network subsystem comprising: protocol model library, link model library, mobile model library and scene model library. The OMNeT++ simulation core is software for realizing simulation development and simulation driving of the data chain network subsystem, and comprises an OMNeT++ simulation core, an OMNeT++ instruction set and API function library, an OMNeT++ demonstration and interface tool set and a network protocol development tool set. The OMNeT++ has the functions of code compiling, simulation driving, interface display calling and the like, and the data link network subsystem comprises a protocol model library, a link model library, a mobile model library and a scene model library which are compiled and integrated through the OMNeT++.
The scene model library contains network scenes. The scene model library has the highest hierarchy, and the protocol model, the link model and the mobile model are integrated in the scene model library and instantiated by the kernel of OMNeT++ in the compiling process. The protocol model library contains predefined or user-defined application layer protocol models, transport layer protocol models, network layer protocol models, and link layer protocol models. The link model library comprises a physical layer channel model; the movement model library contains a random movement model and a trajectory movement model.
The joint simulation interface provided by the embodiment realizes the combination of the OMNeT++ based data link network subsystem and the STK based scene and situation monitoring subsystem, has digital simulation capability, and can perform simulation verification from each layer of protocols of a physical layer, a link layer, a network layer, a transmission layer and an application layer; the system has animation display capability, and can realize scene visual simulation and situation monitoring in the cooperative flight of multiple aircrafts.
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.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A multi-aircraft joint simulation system, comprising:
the data link network subsystem based on OMNeT++ is used for simulating loads of the multi-aircraft cooperative network, wherein the data link network subsystem realizes scene visual simulation and gesture monitoring in the multi-aircraft cooperative flight;
the system comprises a scene and situation monitoring subsystem based on the STK, a communication module and a communication module, wherein the scene and situation monitoring subsystem based on the STK is used for carrying out visual scene simulation and situation display on the collaborative flight of multiple aircrafts, and an aircraft model in the scene and situation monitoring subsystem of the STK comprises a transmitter model and a receiver model which are configured through the communication module in the STK; the method comprises the steps of,
the joint simulation interface is used for realizing the simulation of the multi-aircraft joint simulation system to the radio frequency operation environment through the data interaction between the scene and situation monitoring subsystem and the data link network subsystem;
the joint simulation interface is specifically configured to:
receiving a first data packet sent by the data link network subsystem, and extracting integer data and floating point data from the first data packet;
converting the data extracted from the first data packet into character data, packaging and transmitting the character data to the scene and situation monitoring subsystem, wherein the data packet transmitted to the scene and situation monitoring subsystem at least comprises relevant state data of frequency points, modulation modes and channel models, and relevant service data of node IDs, byte numbers, statistics or calculation results, the state data are used for controlling the currently adopted frequency points, modulation modes and channel models of a transmitter and a receiver, and the service data are used for demodulating the received data packet by the receiver and playing an auxiliary role in correctly analyzing the data packet;
receiving a second data packet sent by the scene and situation monitoring subsystem, and extracting character type data from the second data packet;
and converting the data extracted from the second data packet into integer data or floating point data, packaging and transmitting the integer data or floating point data to the data link network subsystem, wherein the data packet transmitted to the data link network subsystem at least comprises position, posture and bit error rate related service data.
2. The multi-aircraft joint simulation system of claim 1, wherein the scenario and situation monitoring subsystem comprises:
a plurality of aircraft models generated based on the STK;
the communication interface is used for being connected with the joint simulation interface;
the data analysis and driving module is used for analyzing the data transmitted by the data link network subsystem to obtain the flight parameters of each aircraft model and generating the control instruction of each aircraft model;
the multi-node real-time module is used for synchronously driving the flight state of each aircraft model according to the control instruction of each aircraft model; and
and the vision demonstration module is used for displaying the flight process of each aircraft model.
3. The multi-aircraft joint simulation system of claim 2, wherein the scenario and situation monitoring subsystem further comprises: a three-dimensional model library;
the three-dimensional model library comprises three-dimensional models of atmosphere, starry sky and aircrafts;
the vision demonstration module is further used for displaying the flight process of each aircraft model by utilizing the three-dimensional models in the three-dimensional model library.
4. The multi-aircraft joint simulation system of claim 2, wherein the scenario and situation monitoring subsystem further comprises:
and the playback module is used for playing back, accelerating and displaying, decelerating and displaying and jumping the flight process of each aircraft model.
5. The multi-aircraft joint simulation system of claim 1, wherein the data link network subsystem comprises:
the protocol model library comprises an application layer protocol model, a transmission layer protocol model, a network layer protocol model and a link layer protocol model;
a link model library comprising a physical layer channel model;
a movement model library comprising a random movement model and a trajectory movement model; the method comprises the steps of,
a scene model library containing network scenes.
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| CN114444304B (en) * | 2022-01-24 | 2023-04-07 | 中国科学院空间应用工程与技术中心 | Space task simulation method, system and simulation system |
| CN116736740A (en) * | 2023-08-09 | 2023-09-12 | 东方空间技术(山东)有限公司 | Simulation system and method for multiple aircrafts |
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