CN102608922A - Vega-and-RTW-based real-time visual simulation platform for photoelectric theodolite - Google Patents
Vega-and-RTW-based real-time visual simulation platform for photoelectric theodolite Download PDFInfo
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Abstract
The invention discloses a Vega-and-RTW-based real-time visual simulation platform for a photoelectric theodolite. The visual simulation method comprises the following steps of: rendering a virtual scene of the theodolite in real time; adding the required image effect to the scene in real time by using a shader programmed by a graphics processing unit (GPU); establishing a Simulink model of a theodolite tracking control system and generating a real-time simulation resolving module through the RTW; and scheduling the simulation module to drive the scene to finish simulation of the theodolite through the simulation unit. Methods for visual simulation and numerical model simulation are combined, visual driving is performed by using Vega, the image effect is added by using the shader, the simulation resolving module is generated from the Simulink model by using the RTW, and the requirement on real-time property is well met; and compared with a general semi-physical simulation platform, the purpose of training an operator can be fulfilled without accessing the visual simulation platform to an actual system; meanwhile, the theodolite tracking control system is simulated, and the simulation platform can be provided for analyzing and designing the actual system.
Description
Technical field
The invention belongs to virtual reality and system emulation field; Relating to when electro-optic theodolite is carried out system emulation how its course of work being carried out real-time visualized emulation, can the training and operation hand also can be the analysis and the purpose that designs the platform that an emulation is provided of real system just to reach under the situation that does not insert real system.
Background technology
Electro-optic theodolite can be surveyed, catch and follow the tracks of target, is widely used in a lot of fields.Utilize virtual reality and system simulation technology that the course of work of electro-optic theodolite is carried out visual simulating; Mainly be to render the virtual scene that meets its course of work; Comprise the demonstration of target, background, landform etc. etc., and will meet its tracking control system characteristic the control of virtual scene.At present, the emulation to electro-optic theodolite comprises visual simulating and non-visual simulating.Wherein, Visual simulating is divided into full virtual emulation and HWIL simulation; At first all be to render the picture (flying over sky) that target is moved in background like aircraft through relevant three-dimensional vision software; Full virtual emulation is controlled scene according to the theory of the transit situation of following the tracks of, the situation of simulation transit tracking target.HWIL simulation then is in emulation, to insert real system, let operator with this virtual scene as actual scene, the operation real system target is wherein followed the tracks of.Full virtual emulation is used for the transit function presentation more, and practical value is not very big; HWIL simulation is used for the operator training more, but its weak point is: the one, need in the emulation to insert real system, and cost is higher; The 2nd, only simulated virtual scene, lack simulation, thereby do not reach the purpose of system emulation the real system tracking characteristics.Mostly non-visual simulating to electro-optic theodolite is the model numerical simulation; It generally is the mathematical model of setting up its system's various piece through Matlab/Simulink; Method through numerical operation is analyzed and is designed the characteristic of system; The degree of accuracy of emulation depends on the foundation of model, and this method is widely used in systematic analysis and design, and unique shortcoming is to lack visual effect.
Vega is the system of real-time visual three-dimensional vision simulation software that U.S. MultiGen-Paradigm company develops to visual simulating sector application characteristics specially.Its basic functions is driving, control, managing virtual scene and supports complicated fast visual simulation system, creates the three-dimensional environment and the virtual reality system of various real-time, interactives fast.
RTW is the important supplementary functions module of of Matlab/Simulink, utilize it directly to generate corresponding code automatically by the Simulink model, thereby module is resolved in the emulation that can obtain model.Practical application shows, calling this emulation, to resolve the output that module obtains be consistent with the output that direct moving model under the Matlab/Simulink environment obtains.
Summary of the invention
The technical matters that the present invention will solve is: the deficiency to existing electro-optic theodolite emulation platform, design a kind of electro-optic theodolite real-time visualized emulation platform based on Vega and RTW.The real-time rendering that this platform utilizes Vega to accomplish virtual scene shows, comprises target and background etc.; Utilize modern GPU (GPU) powerful graph ability and programmability, write tinter through GPU and in the scene render process, add the more necessary image effects of transit emulation in real time; Set up electro-optic theodolite tracking control system Simulink model, and resolve module confession vision simulation module invokes through its emulation of RTW generation; The operation bench consistent with real system links to each other with main control computer through serial ports; When manually following the tracks of; With the control lever signal of operation bench drive viewpoint in the scene towards following the tracks of; When motion tracking, simulation unit obtains the information such as miss distance of target in the virtual scene through the API (application programming interfaces) of transit imaging tracking algorithm or Vega, and this information is passed to model emulation resolves module; Obtain meeting the tracking mode of transit tracking control system characteristic, carry out trace simulation with this state.
Technical solution of the present invention is: a kind of electro-optic theodolite real-time visualized emulation platform based on Vega and RTW is characterized in that may further comprise the steps:
(1) at first sets up hardware configuration, comprise a main control computer that is equipped with Programmable GPU, two displays for emulation platform; With the corresponding to operation bench of real system function; Comprise associated button and operating rod, and mouse and keyboard, the operation bench signal passes to computing machine through serial ports;
(2) set up the platform emulation unit, its function mainly comprises: produce user interface, show each item state and data; Open the Vega thread and play up virtual scene, scene is controlled through Vega API and OpenGL; The tinter of writing through GPU adds the more needed image effects of emulation in real time when scene rendering; Read operation bench button and joystick signal through serial ports;
(3) set up electro-optic theodolite tracking control system Matlab/Simulink model, and through RTW thus model generate its real-time simulation and resolve module, various systematic parameters can be adjusted when module is moved in real time;
(4) the Vega thread of simulation unit unlatching is realized real-time rendering and control to virtual scene; Its function is to utilize Vega API and OpenGL to render corresponding scene according to many factors, and these factors comprise: the kind of the target of selection, background and landform and correlation parameter; The position of target and attitude; The position of viewpoint and attitude; The size of visual field etc.;
(5) writing tinter through GPU is that scene is added some required image effects of emulation in real time, comprises gray scale scene, noise, blur effect etc.;
Be in manual tracing mode when (6) simulation unit has just been opened; Simulation unit reads the operation bench data through serial ports; In the operator pulling joystick driver virtual scene viewpoint towards; Make that target is pressed associated button afterwards and switched to the transit tracing mode as far as possible near the center, visual field in the scene, this process can be used for the operator training;
(7) after the entering transit tracing mode; Simulation unit no longer drives the scene viewpoint through the operation bench signal; But resolve module through the emulation of the transit tracking control system Matlab/Simulink model that generated in the invocation step (3); Specific practice is: at present frame; Simulation unit obtains the miss distance information of target in the scene through transit imaging tracking algorithm or Vega API, passes to emulation and resolves module and resolve the output that obtains the transit tracking control system, and this output is transit optical axis attitude; Can be used for the setting of viewpoint attitude in the next frame scene, simulate the course of work that meets actual light electro-theodolite set tracking control system characteristic thereby repeat this process.
The tracking control system Matlab/Simulink model of setting up in the said step (3) comprises thick tracking control system model, smart tracking control system model and composite shaft tracking control system model etc.
The present invention compared with prior art has following advantage:
1, the present invention carries out the what comes into a driver's driving with Vega; Utilize the programmability of modern GPU and powerful graph ability to come to add in real time the required image effect of emulation with tinter; Generate its real-time simulation with RTW from tracking control system Simulink model and resolve module, satisfied the requirement of vision simulation real-time.
2, the present invention has combined visual simulating and model numerical value method of emulation, need not insert actual electro-optical system, only needs to insert operation bench, can be used as the operator training platform and uses; And tracking control system has been carried out emulation, and parameter can be adjusted in real time, can emulation platform be provided for the analysis and the design of real system.
Description of drawings
Fig. 1 is a kind of feasible hardware platform structural drawing of the present invention;
Fig. 2 is the block diagram of system of the present invention.
Embodiment
Below in conjunction with description of drawings the present invention.But following embodiment only limits to explain the present invention, and protection scope of the present invention should comprise the full content of claim, and through following examples, the technician in this field promptly can realize the full content of claim of the present invention.
A kind of feasible hardware platform of the present invention is as shown in Figure 1; (display is used for the explicit user operation interface by also arranging in pairs or groups of operation bench, two displays the computing machine of Programmable GPU to be arranged; One is used to show virtual scene) and some other utility appliance (key mouse and sound equipment etc.) composition, wherein the operation bench signal passes to computing machine through serial ports.Hardware platform also can be other form, as long as can satisfy required function.
The present invention carries out what comes into a driver's with Vega and drives, and realizes the realtime graphic effect with tinter, generates real-time simulation with RTW from transit tracking control system Simulink model and resolves module, need not insert real system, and its block diagram of system is as shown in Figure 2.
Based on hardware platform shown in Figure 1 and the block diagram of system shown in Figure 2, concrete realization of the present invention is following:
(1) set up simulation unit, produce user interface, operation interface comprises the setting of various parameters, the selection of mode of operation etc.; The function of simulation unit mainly comprises: read the operation bench signal that is come by the serial ports transmission and carry out handled; The operation that the response user is done on operation interface is promptly accomplished mutual; Open the Vega process and carry out scene rendering, and each element in the scene is controlled, obtain the information such as miss distance of target in the scene etc. through API and the OpenGL of Vega; The emulation of calling the tracking control system model is resolved module and is resolved and obtain system's output, and is used for playing up of next frame scene; Utilize GPU to write tinter and add required image effect in real time for scene;
(2) set up electro-optic theodolite track control system Simulink model; And utilize RTW thus model generate the code can be used for real-time simulation; And module is resolved in its emulation of code compiling thus, supplies simulation unit to call, and various systematic parameters can be adjusted when module is moved in real time;
(3) user utilizes operation interface to carry out initial configuration, comprises the setting of various parameters, and the selection of target, background, landform, mode of operation, various effects etc. configure back unlatching Vega thread and carry out scene rendering;
(4) utilize its API and OpenGL to realize control in the Vega thread, like the setting of the position and attitude of visual field size, target and viewpoint etc. to each element in the scene;
(5) when scene in frame buffer, draw good after, launch tinter scene handled the image effect that needs with interpolations, exchange front and back buffer memory then, demonstration be exactly to have had the scene of required image effect;
(6) the manual tracing mode stage, operator joystick, simulation unit read its data to drive the attitude of viewpoint in the virtual scene, simulation tracing;
(7) the transit tracing mode stage; Simulation unit is obtained the information such as miss distance of target in the present frame scene through transit imaging tracking algorithm or Vega API; And the emulation that passes to system model resolve module resolve obtain output; This output has comprised the optical axis attitude of transit, can be used to during the next frame scene rendering viewpoint attitude is provided with.Thereby repeat the course of work that above process simulates electro-optic theodolite.
Claims (2)
1. electro-optic theodolite real-time visualized emulation platform based on Vega and RTW is characterized in that may further comprise the steps:
(1) at first sets up hardware configuration, comprise a main control computer that is equipped with Programmable GPU, two displays for emulation platform; With the corresponding to operation bench of real system function; Comprise associated button and operating rod, and mouse and keyboard, the operation bench signal passes to computing machine through serial ports;
(2) set up the platform emulation unit, its function mainly comprises: produce user interface, show each item state and data; Open the Vega thread and play up virtual scene, scene is controlled through Vega API and OpenGL; The tinter of writing through GPU adds the more needed image effects of emulation in real time when scene rendering; Read operation bench button and joystick signal through serial ports;
(3) set up electro-optic theodolite tracking control system Matlab/Simulink model, and through RTW thus model generate its real-time simulation and resolve module, various systematic parameters can be adjusted when module is moved in real time;
(4) the Vega thread of simulation unit unlatching is realized real-time rendering and control to virtual scene; Its function is to utilize Vega API and OpenGL to render corresponding scene according to many factors, and these factors comprise: the kind of the target of selection, background and landform and correlation parameter; The position of target and attitude; The position of viewpoint and attitude; The size of visual field etc.;
(5) writing tinter through GPU is that scene is added some required image effects of emulation in real time, comprises gray scale scene, noise, blur effect etc.;
Be in manual tracing mode when (6) simulation unit has just been opened; Simulation unit reads the operation bench data through serial ports; In the operator pulling joystick driver virtual scene viewpoint towards; Make that target is pressed associated button afterwards and switched to the transit tracing mode as far as possible near the center, visual field in the scene, this process can be used for the operator training;
(7) after the entering transit tracing mode; Simulation unit no longer drives the scene viewpoint through the operation bench signal; But resolve module through the emulation of the transit tracking control system Matlab/Simulink model that generated in the invocation step (3); Specific practice is: at present frame; Simulation unit obtains the miss distance information of target in the scene through transit imaging tracking algorithm or Vega API, passes to emulation and resolves module and resolve the output that obtains the transit tracking control system, and this output is transit optical axis attitude; Can be used for the setting of viewpoint attitude in the next frame scene, simulate the course of work that meets actual light electro-theodolite set tracking control system characteristic thereby repeat this process.
2. a kind of electro-optic theodolite real-time visualized emulation platform based on Vega and RTW according to claim 1 is characterized in that: the tracking control system Matlab/Simulink model of setting up in the said step (3) comprises thick tracking control system model, smart tracking control system model and composite shaft tracking control system model etc.
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Cited By (7)
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| CN102902207A (en) * | 2012-11-13 | 2013-01-30 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| CN103235545A (en) * | 2013-04-19 | 2013-08-07 | 中国科学院光电技术研究所 | Simulation testing method and device for photoelectric tracking system |
| CN105373011A (en) * | 2015-12-01 | 2016-03-02 | 中国科学院长春光学精密机械与物理研究所 | Real-time simulation system for detection of photoelectric tracking device and computer comprising the same |
| CN103235518B (en) * | 2013-04-19 | 2016-04-27 | 中国科学院光电技术研究所 | A kind of test method to photoelectric tracking systems stabilisation and platform |
| CN107290978A (en) * | 2017-06-16 | 2017-10-24 | 南京航空航天大学 | A kind of helicopter flight simulation method and system |
| CN108279576A (en) * | 2017-12-26 | 2018-07-13 | 湖北航天技术研究院总体设计所 | A kind of composite shaft target following emulation test system |
| CN114373351A (en) * | 2021-12-08 | 2022-04-19 | 中国人民解放军63861部队 | Panoramic simulation training system for photoelectric theodolite |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102902207A (en) * | 2012-11-13 | 2013-01-30 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| CN102902207B (en) * | 2012-11-13 | 2015-06-17 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| CN103235545A (en) * | 2013-04-19 | 2013-08-07 | 中国科学院光电技术研究所 | Simulation testing method and device for photoelectric tracking system |
| CN103235545B (en) * | 2013-04-19 | 2015-12-09 | 中国科学院光电技术研究所 | A kind of emulation test method of photoelectric follow-up and device |
| CN103235518B (en) * | 2013-04-19 | 2016-04-27 | 中国科学院光电技术研究所 | A kind of test method to photoelectric tracking systems stabilisation and platform |
| CN105373011A (en) * | 2015-12-01 | 2016-03-02 | 中国科学院长春光学精密机械与物理研究所 | Real-time simulation system for detection of photoelectric tracking device and computer comprising the same |
| CN105373011B (en) * | 2015-12-01 | 2017-11-28 | 中国科学院长春光学精密机械与物理研究所 | Detect the real-time emulation system and computer of electro-optical tracking device |
| CN107290978A (en) * | 2017-06-16 | 2017-10-24 | 南京航空航天大学 | A kind of helicopter flight simulation method and system |
| CN108279576A (en) * | 2017-12-26 | 2018-07-13 | 湖北航天技术研究院总体设计所 | A kind of composite shaft target following emulation test system |
| CN108279576B (en) * | 2017-12-26 | 2021-09-28 | 湖北航天技术研究院总体设计所 | Compound axle target tracking simulation test system |
| CN114373351A (en) * | 2021-12-08 | 2022-04-19 | 中国人民解放军63861部队 | Panoramic simulation training system for photoelectric theodolite |
| CN114373351B (en) * | 2021-12-08 | 2024-03-29 | 中国人民解放军63861部队 | Photoelectric theodolite panoramic simulation training system |
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