CN101398866A - Aircraft vision emulation system - Google Patents
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Abstract
The invention provides an aerocraft view simulation system which consists of a track calculating module which comprises the calculating models of all the tracks and unified interfaces providing communication with other models; a view display module which receives information from a communication module and provides a corresponding display function; the communication module which provides the unified interfaces for obtaining the data of a computer model and simultaneously transmits the relevant data to each view; the communication module is respectively interconnected with the track calculating module and the view display module. Based on the areocraft track pose demonstration view simulation system of a 3D real time dynamic display technology, the invention simulates the flying trace and pose of the areocraft under different environments and intuitively displays the whole running process of the areocraft. Through spaceflight simulation, not only a user is led to more intuitively know the running situation of a spaceflight task, but also the design, validation, demonstration, screening and conformation of a flying scheme can be assisted and finished.
Description
(1) technical field
What the present invention relates to is visual simulating technology, particularly the visual simulating technology that flight track, attitude dynamics are combined with computer graphics in the emulation field.
(2) background technology
Aerospace Simulation method the earliest is a matter emulation.Matter emulation can be on the macroscopic view the overall situation hold the performance and the motion conditions of aircraft, but cost height, the nonrepeatability of technological requirement complexity, particularly matter emulation, high risk have restricted the range of application of matter emulation.
Owing to emulation technology has many advantages such as safe, economic, controlled, that nothing is destructive, allow repeatedly to repeat, therefore be widely used in military field, especially space industry.Aerospace Simulation is based on the physical influence model or carries out the research work of simulation test and analysis according to aircraft movements, dynamics and dynamics of orbits etc. about the theoretical mathematical model of setting up, and is the product that system simulation technology combines with aerospace engineering.It mainly around each links such as development, emission, observing and controlling, management and application of spacecraft to system comprehensively analyze, conceptual design and Performance Evaluation.
In the sixties, digital machine begins to develop rapidly and popularize, and the main tool of aerospace Simulation excessively arrives digital machine.Adopt computer simulation technique, can replace real physical model, on computer platform, repeat simulated flight many times with mathematical model quite accurately, the analytical test result, thereby shorten test and lead time, improve test and development quality, save test and research fund.
Traditional digital simulation technique is the center with the mathematical model, and the science that is mainly used in is calculated.The professional knowledge background that the deciphering process need of numerical information is very strong, simulation result can not embody the variation of flight track and attitude and the time-space relationship between the aircraft and the earth intuitively.No matter be description to modeling process, still, all very complicated to the analysis of simulation result, and be difficult to obtain integral body, image, simulation result intuitively, can't in time judge and decision-making.
Simplation visualizing be the numerical information in the emulation is become intuitively, represents with the graph image form, in time with the simulation process of spatial variations.Simplation visualizing comprises the visual and simulation calculation process visualization of simulation result.Vision simulation is the advanced stage of visual simulating, also is the most important form of expression of virtual reality technology, and it is to use the family to produce interactive immersion environment, has realized that user and environment directly carry out natural interaction.
Spacecraft orbit calculates and to be used for the flight course of simulated flight device, prerequisite is to set up kinetic model, because the complicacy of space problem has caused the diversity of kinetic model, track simulated program with versatility should comprise multiple different kinetic model, not only can simplify the analysis design effort amount of space mission like this, can also increase work efficiency simultaneously and reliability.Therefore simulated program should be with good expansibility and reusability.
The simulation demo program prerequisite of aircraft flight state is that flight track calculates, and track calculates and comprised dynamics of orbits, kinematics basis, rudimentary knowledge such as orbit perturbation problem and attitude of flight vehicle control.
Under the situation that spationautics develops rapidly, one-of-a-kind system often is difficult to satisfy some technical sophistications of proposing, involves a wide range of knowledge in aerospace engineering, the demanding artificial tasks of degree of accuracy, and the distributed interactive simulation technology of being made up of multi-computer system more and more is applied in aerospace Simulation.Distributed interactive simulation is meant that a plurality of emulation main bodys that adopt computer networking technology will be distributed in the different location couple together, and by message exchange between the different nodes and coordination, realizes that multiagent carries out emulation under same environment.
(3) summary of the invention
The object of the present invention is to provide a kind ofly can not only make the situation of carrying out of user's more intuitive understanding space mission, and can assist to finish flight design for scheme, checking, demonstration, screening and definite aircraft vision emulation system by emulation.
The object of the present invention is achieved like this:
It is by comprising all track computation models, the track computing module with the unified interface of other model communications being provided, receive the view display module that message provides corresponding Presentation Function from communication module, the communication module that provide unified interface to obtain track computation model data, related data to be sent to each view is simultaneously formed, and communication module is interconnected with track computing module and view display module respectively.
Described track computing module resolves aircraft in each Flight Condition Data constantly according to the motion and the control law of aircraft; For actual suffered random disturbance factor in-flight, set up corresponding multiple degrees of freedom realistic model.
Described view display module is set up and is comprised the large-scale terrain model of place that aircraft and aircraft leap, and wherein also comprises basic environment setting, sound control and the demonstration of special efficacy several scenes effect in-flight; Configured models is driven the multiple degrees of freedom dynamic effect of simulated flight device motion; Come model, the simulated environment setting of setting up are driven in conjunction with Simulation drive software Vega by VC++, utilize the Vega api function in VC++, to set up initialization, definition, a series of simulation flows of configuration and realize driving model, in the frame circulation, receive data, in each frame, bring in constant renewal in, thus the relative motion of realization scene.
Described communication module is responsible for obtaining data from the track computing module, send data to view show and be responsible between track computing module and the view in time synchronously; Be based upon distributed interactive simulation inwardly,, build the framework that system realizes based on High Level Architecture HLA; According to HLA standard places system middle orbit computing module and what comes into a driver's display module each as a federal member, between its functional unit by coming to finish jointly design objective alternately.
Aircraft vision emulation with aircraft ruuning situation be research object, towards the emulation of complication system.Its emulation experiment process comprises system modelling, model realization and the model Real Time Drive to aircraft itself and TT﹠C system thereof.The order of exploitation aircraft Real-Time Scene Simulation system is not only the situation of carrying out that makes user's more intuitive understanding space mission by emulation, and to assist to finish flight design for scheme, checking, demonstration, screening especially and determine, so must adopt the motion modeling method based on physics law, other motion control method can not satisfy the requirement of emulation.
System of the present invention adopts the modularization structure, makes the exploration of system stronger, and new module can join in the system easily.
System of the present invention comprises following main modular:
1. the track computing module comprises all track computation models, and the unified interface with other model communications is provided.
2. the view display module receives message from communication module corresponding Presentation Function is provided.
3. the unified interface that provides of communication module is obtained track computation model data, simultaneously related data is sent to each view.
The track computing module is mainly used in according to the motion of aircraft and control law, resolves aircraft in each Flight Condition Data constantly.For actual suffered random disturbance factor in-flight, set up corresponding multiple degrees of freedom realistic model, analyze the action effect of various random disturbance in the flight course and simulate, comprise the Aerodynamic Model when aircraft and air are done relative motion, controlling models etc.
The view display module will be finished the foundation of the large-scale terrain model of place that comprises that aircraft and aircraft leap on the one hand, wherein also comprise control of basic environment setting, sound and the demonstration of several scenes effect such as special efficacy in-flight, on the other hand, want and to drive configured models, the multiple degrees of freedom dynamic effect of simulated flight device motion.Come model, the simulated environment setting of setting up are driven in conjunction with Simulation drive software Vega by VC++, utilize the Vega api function in VC++, to set up a series of simulation flows such as initialization, definition, configuration and realize driving model, in the frame circulation, receive data, in each frame, bring in constant renewal in, thus the relative motion of realization scene.
Native system is based upon distributed interactive simulation inwardly, based on High Level Architecture HLA, builds the framework that system realizes.According to HLA standard places system middle orbit computing module and what comes into a driver's display module each as a federal member, between its functional unit by coming to finish jointly design objective alternately.Communication module is responsible for obtaining data from the track computing module, send data to view show and be responsible between track computing module and the view in time synchronously.Computing module carries out data computation and processing according to the needs of particular task, and display module obtains data from computing module, and view shows that relative communication module program with the track computing module is independent separately.Control program is at first passed to initiation parameter the track computing module, each view of initialization then, control program sent operating instruction to the track computing module after initialization was finished, the track calculation procedure during according to initialization given step-length obtain position and the velocity vector of aircraft at next one point, last control program sends the data that calculate to view, and view repaints according to data and refreshes displaying contents.After track calculated end, computational threads transmitted control message to control program and is responsible for destroying computational threads.
The basic function that vision emulation system of the present invention is realized is as follows:
1 according to given orbit parameter 3-D display aircraft running status.
2 can show aircraft scene environment of living in and relative motion.
3 can select with multiple angles observation flight device state.
The exploitation of vision emulation system is based on Multigen Creator and Vega simulation software, adopt MultigenCreator to carry out the structure of virtual scene, combine the driving that realizes virtual scene with Vega, OpenGL etc. with VC++ again, simulated the effect of sky, megarelief, illumination, sound etc., realized and the collision detection of landform and the collision detection of scene inter-entity by the collision detection technology, reached the requirement of the fidelity and the real-time of real-time system.
The realization that Vega drives mainly contains two kinds of methods: the one, directly inherit the CView class among the MFC, and be called direct succession pattern; The 2nd, the subclass zsVegaView by the CView class of inheriting among the MFC derives from is called the template method pattern.The zsVegaView class provides and has started the basic functions of a Vega thread, also with the formal definition of Virtual Function the general-purpose interface that will operate, only need from such derivation make new advances class and the necessary Virtual Function of heavy duty as required.
In vision emulation system, realize motion modeling based on physics law, must provide the different position and the attitude datas [x, y, z, h, p, r] of aircraft constantly, and these data are to come out by the calculated with mathematical model of aircraft operation.In the frame circulation, realizing the position data of sporting flying body is upgraded in the VC worker thread, utilize these data to come the scene motion body is carried out Real Time Drive, in each frame of emulation, upgrade one time movable body x by the Vega thread, y, z, h, p, the r value, utilize these values that the position of entity is provided with, and draw the what comes into a driver's environment of new position, realize the relative motion of what comes into a driver's with this.In the process that realizes, heavy duty Virtual Function postFrame (), in this Virtual Function, the scene motion body is carried out position renewal.
The expression of some function such as aircraft running orbit, the demonstration of overlay area, the demonstration of output parameter (Chinese and English) etc., Vega program itself can't realize its function, must adopt Vega and OpenGL hybrid programming method to expand its function.The hybrid programming implementation method is to utilize call back function to solve the problem of Vega and OpenGL hybrid programming.It is a kind of defined by the user that call back function is actually, the function that system is called automatically.It is equivalent to an Interrupt Process function, is called automatically when meeting the condition of user's setting by system.
In service at display routine, when being cited, example utilize initialization event that viewpoint is carried out initial alignment.Utilize update event to change locating information, and with new coordinate viewpoint is reorientated the realization scene and browse.Utilization is withdrawed from incident and is eliminated locating information or do some rehabilitations.Each viewpoint all has the eye coordinates system of oneself.In scene, move and the rotational transform of viewpoint are all carried out in eye coordinates system.
The present invention is based on the spacecraft orbit attitude demonstration vision emulation system of three-dimensional Real time dynamic display technology, flight path and the attitude of aircraft under varying environment carried out emulation, demonstrated the overall process of aircraft operation intuitively.Not only make the situation of carrying out of user's more intuitive understanding space mission by aerospace Simulation, and can assist to finish flight design for scheme, checking, demonstration, screening and definite.
(4) description of drawings
Fig. 1 is that vision simulation drives the implementation procedure block diagram;
Fig. 2 is a vision emulation system operational process block diagram;
Fig. 3 is that analogue system is moved required overall arrangement block diagram;
Fig. 4 is a Vega Simulation drive worker thread;
Fig. 5 is that system mainly forms and concerns block diagram between the module.
(5) embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 5, aircraft vision emulation system is by comprising all track computation models, the track computing module with the unified interface of other model communications being provided, receive the view display module that message provides corresponding Presentation Function from communication module, the communication module that provide unified interface to obtain track computation model data, related data to be sent to each view is simultaneously formed, and communication module is interconnected with track computing module and view display module respectively.Described track computing module resolves aircraft in each Flight Condition Data constantly according to the motion and the control law of aircraft; For actual suffered random disturbance factor in-flight, set up corresponding multiple degrees of freedom realistic model.Described view display module is set up and is comprised the large-scale terrain model of place that aircraft and aircraft leap, and wherein also comprises basic environment setting, sound control and the demonstration of special efficacy several scenes effect in-flight; Configured models is driven the multiple degrees of freedom dynamic effect of simulated flight device motion; Come model, the simulated environment setting of setting up are driven in conjunction with Simulation drive software Vega by VC++, utilize the VegaAPI function in VC++, to set up initialization, definition, a series of simulation flows of configuration and realize driving model, in the frame circulation, receive data, in each frame, bring in constant renewal in, thus the relative motion of realization scene.Described communication module is responsible for obtaining data from the track computing module, send data to view show and be responsible between track computing module and the view in time synchronously; Be based upon distributed interactive simulation inwardly,, build the framework that system realizes based on High Level Architecture HLA; According to HLA standard places system middle orbit computing module and what comes into a driver's display module each as a federal member, between its functional unit by coming to finish jointly design objective alternately.
Before the object in the scene is transformed to screen coordinate system from eye coordinates system, must and look the relative position relation of seeing the truncated cone to object and test.
Example one
Adopt Creator/Vega to set up the real-time processing procedure of system, after the .flt model file that Creator sets up is input to drive software Vega, just become the part of real-time application, as shown in Figure 1.The development process of system is: at first in Creator all entities in the scene are carried out modeling, model is loaded among the Vega, in application interface LynX, finish the setting of ADF initial value, object, scene motion body, environment and environment special efficacy, light source etc. in definition window, passage, observer, motion model, scene, the scene, and they are carried out initialization, the required environment of configuration real-time simulation, ADF file, preview environmental effect are preserved in compiling.The simulated program initialization, configuration Vega application framework, the three phases of each frame of processing in real-time application: Application (application), Cull (intercepting), Draw (drafting).Fig. 4 has provided Vega Simulation drive worker thread.Write simulated program, call api function initialization system and the module class of Vega in VC++, the call frame cyclical function is drawn the scene circulation, and working procedure generates visual simulating and uses in real time.
Example two
Visual simulation system mainly is made up of scene modeling and two parts of scene drive, as shown in Figure 3.The scene modeling part is the prerequisite of visual simulating, and we need utilize various modeling materials according to the complexity requirement of scene, uses the model three-dimensional data base of each object in the professional simulation modeling tools build scene.In the flight simulation modeling, virtual scene mainly is included in the megarelief modeling of takeoff phase, relates to the details of gound-mapping, and the match between aircraft and the external environment is considered in flight such as the remote ground during pitching, cloud and mist effect scenario simulation simultaneously.
The scene drive part is utilized the vision simulation program, according to the various models of place of being set up, generates real-time what comes into a driver's in conjunction with the renewal of the real-time status parameter during all kinds of simulation objects operation in the real-time input of mutual input equipment and the scene etc.At last the emulation what comes into a driver's that generates is presented on the display terminal.
Example three
System mainly contains communication module, Real-Time Scene Simulation driver module and 3-D display output module by its function, wherein communication module receives network delivery missile flight status data, Simulation drive module Real Time Drive virtual scene model and solid model, and the switching of decision observer viewpoint, special efficacy generation, the position of sporting flying body and the renewal of attitude; 3-D display module output flight Three-Dimensional Dynamic information and other parameter.Relation as shown in Figure 5 between the main composition module of system.
Claims (5)
1, a kind of aircraft vision emulation system, it is characterized in that: by the aircraft flight track computing module that comprises controlling models, interference model foundation, receive updating message and the view display module of corresponding demonstration view is provided, provide unified interface to obtain track computation model data, related data is sent to the vision emulation system that the communication module of each view constitutes simultaneously, wherein communication module, track computing module and view display module are interconnected mutually according to the HLA rule.
2, aircraft vision emulation system according to claim 1 is characterized in that: described track computing module resolves aircraft in each Flight Condition Data constantly according to the motion and the control law of aircraft; For actual suffered random disturbance factor in-flight, set up corresponding multiple degrees of freedom realistic model.
3, aircraft vision emulation system according to claim 1 and 2, it is characterized in that: described view display module is set up and is comprised the large-scale terrain model of place that aircraft and aircraft leap, and wherein also comprises basic environment setting, sound control and the demonstration of special efficacy several scenes effect in-flight; Configured models is driven the multiple degrees of freedom dynamic effect of simulated flight device motion; Come model, the simulated environment setting of setting up are driven in conjunction with Simulation drive software Vega by VC++, utilize the Vega api function in VC++, to set up initialization, definition, a series of simulation flows of configuration and realize driving model, in the frame circulation, receive data, in each frame, bring in constant renewal in, thus the relative motion of realization scene.
4, aircraft vision emulation system according to claim 1 and 2 is characterized in that: described communication module is responsible for obtaining data from the track computing module, send data to view show and be responsible between track computing module and the view in time synchronously; Be based upon distributed interactive simulation inwardly,, build the framework that system realizes based on High Level Architecture HLA; According to HLA standard places system middle orbit computing module and what comes into a driver's display module each as a federal member, between its functional unit by coming to finish jointly design objective alternately.
5, aircraft vision emulation system according to claim 3 is characterized in that: described communication module is responsible for obtaining data from the track computing module, send data to view show and be responsible between track computing module and the view in time synchronously; Be based upon distributed interactive simulation inwardly,, build the framework that system realizes based on High Level Architecture HLA; According to HLA standard places system middle orbit computing module and what comes into a driver's display module each as a federal member, between its functional unit by coming to finish jointly design objective alternately.
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