CN111462575A - Method for flight simulation training visual simulation real-time communication - Google Patents
Method for flight simulation training visual simulation real-time communication Download PDFInfo
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- CN111462575A CN111462575A CN202010153727.9A CN202010153727A CN111462575A CN 111462575 A CN111462575 A CN 111462575A CN 202010153727 A CN202010153727 A CN 202010153727A CN 111462575 A CN111462575 A CN 111462575A
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/30—Simulation of view from aircraft
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/164—Adaptation or special uses of UDP protocol
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Abstract
The invention relates to a method for simulating real-time communication of a flight simulation training visual, which comprises the following steps that a flight control system sends an image control instruction to a visual system at a certain frequency, the visual system updates scene information after receiving the image control instruction, the image control instruction comprises a flight control frame number, and the flight control frame number is increased by one each time the flight control system sends the image control instruction to the visual system. The transmission frequency of the data of the synchronous communication method adopting the method is based on the visual synchronous display frequency, so that the synchronous display of the visual data can be effectively ensured, the data transmission efficiency is improved, and the problem that the data of the flight control end and the visual end are not synchronous due to invalid transmission of the data is avoided.
Description
Technical Field
The invention relates to a real-time network data transmission technology based on a UDP communication protocol.
Background
A real-time system is a computer system that is capable of performing computing or processing functions within a determined time and responding to external asynchronous events. The flight simulation real-time simulation system consists of flight control equipment, a switch and display equipment. Fig. 1 is a schematic diagram of a flight simulation UDP network connection simulation system.
In the flight simulation process, the flight control equipment outputs the state information of the airplane and the scene management information, and performs data interaction with a visual system through a command information real-time interaction technology to realize real-time simulation of the flight process. In the simulation process, a large number of different instructions need to be transmitted in real time, the specification and unification of interfaces, and the instruction analysis and efficient processing all affect the real-time performance of information interaction, so the method realizes the real-time communication between the visual simulation flight control system and the visual system.
In the prior art, a world famous airplane manufacturing and designing company and a Boeing company establish a standard interface specification for unifying driving instructions; the unified driving command comprises: data transmission format of driving instructions, some common transmission contents (terrain addition, entity addition, position updating, atmospheric environment modification, set point setting, sensor addition and the like).
The disadvantages are as follows: the universal instruction format cannot be directly used for a professional simulation aircraft, and meanwhile, the instruction function is redundant, so that the efficiency in transmission and use is low, and the processing time is long.
Disclosure of Invention
The invention aims to provide a method for flight simulation training visual simulation real-time communication, which can meet the requirements of timely transmission and time continuity by utilizing the existing simple UDP network connection mode.
In order to solve the above technical problem, the method for simulating real-time communication of flight simulation training view of the present invention comprises the following steps,
-the flight control system sends image control commands to the vision system at a certain frequency,
-the scene system updating the scene information upon receiving the image control command;
the method is characterized in that:
-the image control instruction comprises a flight control frame number, which is incremented by one each time the flight control system sends the image control instruction to the vision system.
In order to distinguish and control the command information transmitted over UDP, the picture control commands are provided with frame number information. And when the flight control system sends an instruction to the view system, adding one to the flight control frame number. By adopting the frame number technology of the method, in the instruction transmission process, under the condition that certain frame data is lost, the receiving party can find the loss condition of the frame data in time by comparing the frame number information of the current time with the frame number information of the last time, and an interpolation processing method is adopted, so that the continuity of data transmission is ensured, and the fault-tolerant capability of the data transmission is improved.
Before the flight control system sends an image control instruction to the vision system, the vision system firstly sends a start instruction to the flight control system per frame, the flight control system immediately sends the image control instruction to the vision system after receiving the start instruction and enters the next calculation period, the start instruction sent to the flight control system by the vision system comprises a vision frame number, and the vision frame number is increased by one when the vision system sends the start instruction to the flight control system each time.
When the flight control frame number does not correspond to the view frame number, interpolation processing is required, and the data value of the output frame is calculated by calculating the weighted average value of the frame data and the adjacent frame data.
The image control command comprises a position parameter, the position parameter is interpolated, and the position parameter of the nth frame is set as PnInterpolation of the m-th frame P'mObtained by calculation of the following formula:
P'm＝a0+a1Pm-1+a2Pm-2+a3Pm-3+a4Pm-4
in the above formula a0，a1，a2，a3，a4Is a constant whose value is calculated from the position parameter of the mth frame.
The model control command comprises model position parameter information, continuous data in the actual operation process of the airplane is simulated by discrete data in the simulation process, and the phenomenon that the flight control frame number does not correspond to the view frame number exists in the flight control and view communication process, so that the display picture of the view end can be jittered, and therefore when the flight control frame number does not correspond to the view frame number, interpolation processing can be improved. Through comparison research, the parameter continuity after interpolation has better effect than that before interpolation.
And after the scene updating of the scene system is finished, sending a starting instruction and an image feedback instruction.
The image control command and/or the image feedback command comprise two command types of a command which must be sent per frame and a command which is not necessarily sent per frame.
By adopting the instruction classification processing technology of the method, the key instruction information of the frame data can be processed and updated every time. The data transmission space is not occupied by the command which is not required to be sent every time, and the transmission efficiency of the effective command is improved.
The image control command comprises an image driving command, a view cone control command, a model control command, an environment parameter control command and/or a ground surface height request command, wherein the image driving command is sent in each frame, and the view cone control command, the model control command, the environment parameter control command and the ground surface height request command are sent in each frame.
The image feedback instructions comprise a visual feedback height instruction which is not necessarily sent every frame.
The start instruction, the image control instruction and/or the image feedback instruction comprise instruction type information, length information and instruction details.
The flight control system and the vision system package different instructions in a queue form each time of instruction transmission, and then send the instructions to the other side through a UDP transmission protocol.
The method effectively controls the delay of the instruction in the communication process by respectively recording the sending, receiving and processing time of the instruction in the image driving instruction, thereby ensuring the satisfaction of the time continuity requirement. The transmission frequency of the data of the synchronous communication method adopting the method is based on the visual synchronous display frequency, so that the synchronous display of the visual data can be effectively ensured, the data transmission efficiency is improved, and the problem that the data of the flight control end and the visual end are not synchronous due to invalid transmission of the data is avoided.
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The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a system architecture diagram of a flight simulation training visual of the present invention.
Fig. 2 is a timing diagram of the vision simulation system operating in asynchronous mode.
Fig. 3 is a timing diagram of the operation of the vision simulation system in the synchronous mode.
FIG. 4 is a command transmission model of a synchronous communication method for real-time communication of a vision simulation system.
Detailed Description
The scene simulation real-time communication can adopt an asynchronous communication method and a synchronous communication method.
In the asynchronous communication process, the flight control system sends image driving instruction information to the vision system at a certain frequency. The vision system also sends image feedback instruction information to the flight control system at a certain frequency. Meanwhile, the frequency of sending the feedback instruction by the vision system is related to the processing capacity of the display equipment, when the vision processes each frame of image, the vision system firstly checks to obtain an image driving instruction, then updates the scene data in the vision according to the image driving instruction, and finally the vision image generator finishes the drawing and displaying work.
Since the flight control system sends the image-driven command in the asynchronous communication process, the image-driven command can be sent at any time point in a certain frame of the visual systemThe scene system checks the received image driving command only at the beginning of each frame, which necessarily results in a large time delay, as shown in fig. 2, which is a timing diagram of the scene simulation system operating in asynchronous mode. The time point when the vision system starts to process the frame number n image driving instruction is tnTotal time of TnDuring this time the flight control system sends a new image drive command to the vision system, with a time delay of L from the receipt of the start of the process since the vision system only checks for updates at the beginning of each framenThe total time delay from the receipt of the image drive command to the completion of processing is Ln+Tn+1Analyzed, LnIn connection with communication, the size is uncertain, which results in poor real-time performance of the communication system. The method effectively controls the delay of the instruction in the communication process by respectively recording the sending, receiving and processing time of the instruction in the image driving instruction, thereby realizing the asynchronous communication method of the visual simulation real-time communication.
Aiming at the condition of low visual load, for example, under the condition that only one display needs to display, the visual display frequency is higher than the flight control refreshing frequency, the asynchronous communication method adopting the method can simplify the processing process at two communication ends and improve the communication efficiency.
In the synchronous communication process, a starting instruction is firstly sent to the flight control device by each frame of the visual system, the technology is similar to a heartbeat package technology and can be used for calculating the communication time between the flight control device and the visual image generator each time, the flight control device immediately sends an image control instruction after receiving the starting instruction, then the flight control device enters the next calculation period, meanwhile, the visual system updates the scene information after receiving the image control instruction, as shown in fig. 3, the timing diagram of the visual simulation system working in the synchronous mode is shown, the visual can immediately obtain the image control instruction at the starting stage of drawing each frame in the synchronous mode, and the delay time L in the asynchronous mode is effectively reducednThe synchronous communication method of the visual simulation real-time communication is realized by the influence on the visual system.
Aiming at the condition of high visual load, for example, under the condition that a plurality of displays need to synchronously display, the synchronization problem of the visual needs to be considered preferentially, the visual display frequency is lower than the flight control refreshing frequency, the synchronous communication method adopting the method has the data transmission frequency based on the visual synchronous display frequency, can effectively ensure the synchronous display of the visual data, simultaneously improves the data transmission efficiency, and avoids the problem that the flight control end and the visual end are not synchronized due to the invalid transmission of the data.
In order to distinguish and control the command information transmitted through UDP, both the image control command and the image feedback command have frame number information. And when the flight control system sends the instruction to the vision system, adding one to the vision frame number. By adopting the frame number technology of the method, in the instruction transmission process, under the condition that certain frame data is lost, the receiving party can find the loss condition of the frame data in time by comparing the frame number information of the current time with the frame number information of the last time, and an interpolation processing method is adopted, so that the continuity of data transmission is ensured, and the fault-tolerant capability of the data transmission is improved.
UDP information transmission frequency setting: the refresh frequency is typically set to 30,50 or 60HZ depending on the particular needs.
Communication sequential logic
1. Type of instruction
In the real-time communication process of the visual simulation, the instruction types are divided into two types, namely an image driving instruction sent to a visual system by a flight control system and an image feedback instruction sent to the flight control system by the visual system, and each type comprises two instruction types which are required to be sent or not for each frame.
By adopting the instruction classification processing technology of the method, the key instruction information of the frame data can be processed and updated every time. The data transmission space is not occupied by the command which is not required to be sent every time, and the transmission efficiency of the effective command is improved.
2. Instruction transfer model introduction
Fig. 4 shows an instruction transmission model of a synchronous communication method for real-time communication of a vision simulation system. The technology is based on a UDP transmission protocol, can directly send data without establishing connection with the other side, is suitable for an application environment which only transmits a small amount of data at a time and has low requirement on reliability, and can well meet a flight simulation real-time simulation system with high requirement on response speed.
This section introduces an example of an instruction transmission model for synchronous communication in the method, and describes a specific invention technique.
The communication of the method is based on the UDP transmission protocol, and the characteristics of the UDP protocol are explained. The purpose of the description is to bring out how the method improves the reliability of data transmission by technical innovation aiming at the low reliability of UDP.
In the instruction transmission process, in order to uniquely distinguish instruction types and quickly realize the analysis processing of the instructions, the first two parts of the instructions respectively contain instruction types and length information, the subsequent parts of the instructions respectively contain detailed contents of corresponding instructions, and meanwhile, in order to ensure the completeness of each frame of instruction information, the flight control system and the vision system package different instructions in a queue mode each time of instruction transmission, and then send the instructions to the opposite side through a UDP transmission protocol. The method improves the communication efficiency, transmits the real-time simulation data to the opposite system in a command mode at high speed and high efficiency, and realizes the flight simulation training visual simulation real-time communication.
The advantage that each instruction contains the type and length of the instruction is that even if the end part of data is lost, the instruction transmission and analysis of the previous data are not influenced in the communication process using the UDP protocol. The method can effectively improve the fault tolerance of instruction transmission. The method also sequences the instruction data according to the priority, so that the instruction with high priority can be analyzed and processed firstly, the receiver can execute the instruction task with high priority firstly, and simultaneously, the instruction task is packed in a queue mode, and the data packet is sent to the other party at one time each time, thereby improving the transmission efficiency of the instruction data, avoiding occupying a data channel by sending for many times, and improving the reliability of data transmission.
The image control command comprises a position parameter, the position parameter is interpolated, and the position parameter of the nth frame is set as PnInterpolation of the m-th frame P'mObtained by calculation of the following formula:
P'm＝a0+a1Pm-1+a2Pm-2+a3Pm-3+a4Pm-4
in the above formula a0，a1，a2，a3，a4Is a constant whose value is calculated from the position parameter of the mth frame.
The model control command comprises model position parameter information, continuous data in the actual operation process of the airplane is simulated by discrete data in the simulation process, and the phenomenon that the flight control frame number does not correspond to the view frame number exists in the flight control and view communication process, so that the display picture of the view end can be jittered, and therefore when the flight control frame number does not correspond to the view frame number, interpolation processing can be improved. Through comparison research, the parameter continuity after interpolation has better effect than that before interpolation.
Claims (10)
1. A method for simulating real-time communication of flight simulation training view comprises the following steps,
-the flight control system sends image control commands to the vision system at a certain frequency,
-the scene system updating the scene information upon receiving the image control command;
the method is characterized in that:
-the image control instruction comprises a flight control frame number, which is incremented by one each time the flight control system sends the image control instruction to the vision system.
2. The method for flight simulation training view simulation real-time communication according to claim 1, wherein: before the flight control system sends an image control instruction to the vision system, the vision system firstly sends a start instruction to the flight control system per frame, the flight control system immediately sends the image control instruction to the vision system after receiving the start instruction and enters the next calculation period, the start instruction sent to the flight control system by the vision system comprises a vision frame number, and the vision frame number is increased by one when the vision system sends the start instruction to the flight control system each time.
3. A method for flight simulation training of a visual simulation of real time communication according to any one of claims 1 to 2, wherein: when the flight control frame number does not correspond to the view frame number, interpolation processing is required, and the data value of the output frame is calculated by calculating the weighted average value of the frame data and the adjacent frame data.
4. A method for flight simulation training of scene simulation real-time communication according to any one of claim 3, wherein: the image control command comprises a position parameter, the position parameter is interpolated, and the position parameter of the nth frame is set as PnInterpolation of the m-th frame P'mObtained by calculation of the following formula:
P′m＝a0+a1Pm-1+a2Pm-2+a3Pm-3+a4Pm-4
in the above formula a0，a1，a2，a3，a4Is a constant whose value is calculated from the position parameter of the mth frame.
5. The method for flight simulation training view simulation real-time communication according to claim 4, wherein: and after the scene updating of the scene system is finished, sending a starting instruction and an image feedback instruction.
6. The method for flight simulation training view simulation real-time communication according to claim 5, wherein: the image control command and/or the image feedback command comprise two command types of a command which must be sent per frame and a command which is not necessarily sent per frame.
7. The method for flight simulation training view simulation real-time communication according to claim 6, wherein: the image control command comprises an image driving command, a view cone control command, a model control command, an environment parameter control command and/or a ground surface height request command, wherein the image driving command is sent in each frame, and the view cone control command, the model control command, the environment parameter control command and the ground surface height request command are sent in each frame.
8. The method for flight simulation training view simulation real-time communication according to claim 6, wherein: the image feedback instructions comprise a visual feedback height instruction which is not necessarily sent every frame.
9. The method for flight simulation training view simulation real-time communication according to claim 5, wherein: the start instruction, the image control instruction and/or the image feedback instruction comprise instruction type information, length information and instruction details.
10. The method for flight simulation training view simulation real-time communication according to claim 9, wherein: the flight control system and the vision system package different instructions in a queue form each time of instruction transmission, and then send the instructions to the other side through a UDP transmission protocol.
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Application publication date: 20200728 |