CN103577656A - Three-dimensional dynamic simulation method for water outlet process of submarine-launched missiles - Google Patents
Three-dimensional dynamic simulation method for water outlet process of submarine-launched missiles Download PDFInfo
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Abstract
The invention discloses a three-dimensional dynamic simulation method for a water outlet process of submarine-launched missiles, and relates to a three-dimensional dynamic simulation method. The method aims to solve the problems of complex testing equipment, high testing cost and weak repeatability in the ground simulation tests. The three-dimensional dynamic simulation method for the water outlet process of the submarine-launched missiles is realized based on CPU-GPU isomerous multithreading development environment, and comprises the following contents: (1) a human-computer interaction platform is built; (2) three-dimensional virtual modeling and displaying for the water outlet process of the submarine-launched missiles are implemented; (3) visualization modeling for the water outlet process of the submarine-launched missiles is implemented based on a particle system; (4) visualization modeling for drum vacuole of the submarine-launched missiles is implemented based on coloring language; (5) sea depth staffs are dynamically displayed; (6) multi-view interactive three-dimensional navigation for the water outlet process of the submarine-launched missiles is implemented; (7) key parameters for the water outlet process of the submarine-launched missiles are visualized. The three-dimensional dynamic simulation method has the advantages of safety, economy, controllability, no damage and recycling property, and can be applied in the technical field of computer simulation methods.
Description
Technical field
The present invention relates to a kind of three dimension dynamic simulation method, belong to computer simulation method and technology field.
Background technology
Modern war is more and more paid attention to enemy's precision strike and the stealthy protection to one's own side.Submarine launched missile combines the two feature of submarine and guided missile, there is far firing range, power is large, accuracy at target is high, viability and the advantage such as penetration ability is strong, not only make submarine possess long-range precision strike capability, and can play effective strategic deterrence effect and Secondary Strike Capacity.
The development work of submarine launched missile starts from the 1950's, but because the underwater emission technical difficulty of submarine launched missile is large, only there are a few countries such as Russia, the U.S., France in the country that has at present more ripe submarine launched missile lift-off technology.China develops submarine launched missile since the seventies middle and later periods in 20th century, has obtained at present significant progress.
In guided missile Vertical Launch technology, mainly contain cold launch technique and heat emission technology.Because heat emission mode is higher to the performance requirement of guided missile, the transmitting of most Underwater Missile all adopts cold emission mode.For the submarine launched missile that adopts cold emission mode, design the three dimension dynamic simulation method of its exiting water process herein.
The application of three-dimensional computer emulation relates to the various aspects such as product introduction, machine-building, national defense industry, Aero-Space, and simplation visualizing has become the important supplementary means that scientific research personnel develops analogue system, carries out Virtual Simulative Experiment.Submarine launched missile underwater emission will experience underwater ejection and go out art skating, water outlet, engine ignition and 5 stages of guided flight in cylinder, water, wherein to go out art skating section and water exit end in cylinder section, water be the exclusive process of submarine launched missile transmitting in underwater ejection, is also the key point of submarine launched missile transmitting success or failure.The required testing equipment of general ground simulation l-G simulation test is complicated, and experimentation cost is high, and repeatable poor.Visualization technique becomes image data-switching, by true lively the displaying of simulation process, has many advantages such as safe, economic, controlled, nothing is destructive, allow repeatedly to repeat.By the base of the diving water outlet Three-Dimensional Dynamic whole process simulation method of launching a guided missile, can provide reference for ground simulation l-G simulation test, help analytical test result, thereby shorten test and lead time, save test and research fund.
Summary of the invention
The object of the invention is, in order to solve the problem that the required testing equipment of ground simulation l-G simulation test is complicated, experimentation cost is high, repeatability is poor, provides a kind of submarine launched missile exiting water process three dimension dynamic simulation method.
Submarine launched missile exiting water process three dimension dynamic simulation method of the present invention, described method is that the multithreading development environment based on CPU-GPU isomery is realized, and it is characterized in that described method comprises following content:
One, build man-machine interactive platform;
Two, latent base guided missile exiting water process three-dimensional modeling and demonstration: utilize Multigen Creator and 3DS MAX to set up the three-dimensional model of submarine, guided missile and surface ship, and set up the virtual emulation scene of ocean, sky, island and submarine topography;
Three, the latent base guided missile water outlet visual modeling based on particIe system: adopt particIe system modeling method, set up uncap bubble, guided missile of ship wave, Missile Plume, magazine and go out a steam, guided missile water outlet water vapor particle special efficacy, the simulation phenomenon in base MISSILE LAUNCHING exiting water process of diving;
Four, the latent base guided missile based on shading language goes out a cavity visual modeling: adopt GLSL shading language to write cavity shape, comprehensive Underwater Missile goes out the mutual and Fluent emulated data of the water-gas in a stage to be set up the base guided missile of diving and goes out a cavity Visualization Model, and simulated missile goes out a cavity Changing Pattern;
Five, ocean depth scale dynamically shows: use projection node to build ocean depth scale, set up the ocean depth function corresponding with change color, and add slip buoy, dynamically show submerged depth and the position of submarine;
Six, the dive various visual angles interactive three-dimensional roaming of base guided missile exiting water process: read in not guided missile and submarine position, attitude data in the same time
wherein, x, y, z represents position coordinates,
θ, ψ represent respectively rolling, pitching, three attitude angle of driftage, and scene motion body is carried out to Real Time Drive, the situation of change that design is used all-round display observation to dive and penetrate submarine in process, guided missile, ocean;
Seven, the dive key parameter of base guided missile exiting water process is visual: show the parameter information of the position of diving in base guided missile exiting water process, attitude, speed aspect, and draw the change curve of the position of not diving in the same time in base guided missile exiting water process, attitude, speed.
The present invention comprises following beneficial effect:
It is core that dive base guided missile water outlet modeling technique, visualization technique, virtual reality technology and numerical simulation technology etc. are take in the present invention, and take VC++ and OSG 3 d rendering engine storehouse is implementation tool, completes the interactive virtual emulation of the base guided missile exiting water process of diving.Visualization technique becomes image data-switching, by true lively the displaying of simulation process, has many advantages such as safe, economic, controlled, nothing is destructive, allow repeatedly to repeat.By the base of the diving water outlet Three-Dimensional Dynamic whole process simulation method of launching a guided missile, can provide reference for ground simulation l-G simulation test, help analytical test result, greatly shorten test and lead time, test and research fund minimizing are over half.
Technical characterstic of the present invention and effect are as follows:
Can complete a series of environment scene three-dimensional visualizations such as comprising ocean, sky, landform;
Can complete the three-dimensional visualization of guided missile, submarine, naval vessels waterborne;
Can complete and comprise ship wave, Missile Plume, go out a series of particIe system three-dimensional visualizations such as cylinder, water outlet;
Can complete the three-dimensional visualization of the motion processes such as navigation of submarine, trajectory pose, cavity shape;
Can show ocean depth scale, and with the form of buoy, dynamically show the submerged depth of submarine;
Can import guided missile data and cavity data and carry out visual simulating;
Can draw the various status datas in task process, and can carry out intuitively curve demonstration;
Can store and inquire about various telemetries and adjust tactful command information.
Embodiment
Technical solution of the present invention is not limited to following cited embodiment, also comprises the combination in any between each embodiment.
Embodiment one: the submarine launched missile exiting water process three dimension dynamic simulation method of present embodiment, described method is that the multithreading development environment based on CPU-GPU isomery is realized, and it is characterized in that described method comprises following content:
One, build man-machine interactive platform;
Two, latent base guided missile exiting water process three-dimensional modeling and demonstration: utilize Multigen Creator and 3DS MAX to set up the three-dimensional model of submarine, guided missile and surface ship, and set up the virtual emulation scene of ocean, sky, island and submarine topography;
Three, the latent base guided missile water outlet visual modeling based on particIe system: adopt particIe system modeling method, set up uncap bubble, guided missile of ship wave, Missile Plume, magazine and go out a steam, guided missile water outlet water vapor particle special efficacy, the simulation phenomenon in base MISSILE LAUNCHING exiting water process of diving;
Four, the latent base guided missile based on shading language goes out a cavity visual modeling: adopt GLSL shading language to write cavity shape, comprehensive Underwater Missile goes out the mutual and Fluent emulated data of the water-gas in a stage to be set up the base guided missile of diving and goes out a cavity Visualization Model, and simulated missile goes out a cavity Changing Pattern;
Five, ocean depth scale dynamically shows: use projection node to build ocean depth scale, set up the ocean depth function corresponding with change color, and add slip buoy, dynamically show submerged depth and the position of submarine;
Six, the dive various visual angles interactive three-dimensional roaming of base guided missile exiting water process: read in not guided missile and submarine position, attitude data in the same time
wherein, x, y, z represents position coordinates,
θ, ψ represent respectively rolling, pitching, three attitude angle of driftage, and scene motion body is carried out to Real Time Drive, the situation of change that design is used all-round display observation to dive and penetrate submarine in process, guided missile, ocean;
Seven, the dive key parameter of base guided missile exiting water process is visual: show the parameter information of the position of diving in base guided missile exiting water process, attitude, speed aspect, and draw the change curve of the position of not diving in the same time in base guided missile exiting water process, attitude, speed.
Embodiment two: what present embodiment was different from embodiment one is that the man-machine interactive platform of building described in step 1 has been built under VC++ and OSG 3 d rendering engine environment, VC++ is for constructing system platform and interface, utilize the technical characterstic of MFC platform, adopt single document multi-view diagram technology, Fluent UI technology, GDI technical design Man Machine Interface interface, OSG 3 d rendering engine provides virtual reality technology for realizing the three-dimensional emulation of the base guided missile exiting water process of diving.Other is identical with embodiment one.
Embodiment three: what present embodiment was different from embodiment one or two is that the three-dimensional model described in step 2 is stored in the binary file mode of IVE form.Other is identical with embodiment one or two.
Embodiment four: present embodiment is different from one of embodiment one to three is that the concrete grammar of the latent base guided missile exiting water process three-dimensional modeling described in step 2 is as follows: according to real submarine, guided missile size, utilize three-dimensional animation to play up making software 3DS MAX and reconstruct corresponding virtual three-dimensional object entity, use texturing, boolean operation method is processed and configuration, and derive with FLT formatted file, utilize three-dimensional simulation modeling software Multigen Creator to set up degree of freedom DOF node to submarine magazine hatchcover and tail undercarriage, use OSG access above-mentioned node and call, realize screw propeller rotation and magazine hatchcover opening and closing function, while drawing submarine and naval vessel model, adopt detail LOD technology, by the many groups of drafting schemes that go from the simple to the complex, realize playing up of same model, and the LOD arranging while drawing near switches action, reach and alleviate the multipurpose of playing up burden and guaranteeing to play up quality, finally FLT formatted file is converted to IVE formatted file.Other is identical with one of embodiment one to three.
Embodiment five: what present embodiment was different from one of embodiment one to four is that the Ocean Scenes emulation described in step 2 is to carry out secondary development based on the ocean simulation scheme osgOcean that increases income, attainable function have the reflection of wave animation, sea inverted image, light and refraction, Fresnel effect, Underwater Optical according to, floating curtain particle, the oceanic purpose such as distortion distortion under water under water; Described Sky Scene emulation is to utilize texture mapping method, sky picture is mapped to the inner side of day sylphon, and in conjunction with illumination system, realizes the sky effect of scene; Island and submarine topography scene simulation are to use Global Mapper to download altitude figures DEM, use Google Earth to download data texturing, finally adopt Multigen Creator to synthesize processing to described data, realize island and submarine topography model.Other is identical with one of embodiment one to four.
Embodiment six: what present embodiment was different from one of embodiment one to five is that the latent base guided missile water outlet visual modeling based on particIe system described in step 3 comprises following content:
Ship wave model construction ship wave particIe system based on Kelvin network: ship is a desirable some disturbance, and the tail of generation comprises two kinds of obvious waveforms: difference ripple and cross-section ripple.Owing to being subject to hull to cover the impact of water, shear wave in Kelvin network embodies also not obviously in actual ship wave flight path, and the V-arrangement flight path of dilatation wave and both sides, naval vessel is very identical, therefore the particle that design outwards sprays from peak line, each particle spreads according to certain rule until disappear in the life cycle of oneself, need only the life long enough of particle, just can keep the form of whole piece flight path.
Missile Plume simulation: for the afterbody smog of guided missile, the life cycle that extends particle and transmitter launch time, make wake flame form very long path, adjusts particle per second and generate number, and control smog is dense; For the wake flame of guided missile, the change color scope of particle in life cycle is set, realize the fade effect of blue wake flame, adjust generation particle number per second, control wake flame dense, particle life cycle is set, control wake flame length.
Uncap bubble simulation of magazine: magazine has a large amount of bubbles and gushes out after uncapping, guided missile also can produce agglomerate air mass after going out cylinder, annulus transmitter is set, and shorten the time of transmitter emitted particle and the life cycle of particle, add water resistance effect, control particIe system, automatically disappear after making it to produce a period of time, reach a kind of effect of gradual change.
The particle effect simulation of guided missile water outlet smog: the annulus transmitter of large radius is set, and the particle emission quantity that every frame is abundant, increases transmitter emitted particle speed, adds low gravitational effects, moderate particle life cycle.
Other is identical with one of embodiment one to five.
Embodiment seven: present embodiment is different from one of embodiment one to six is that the state parameter of the cavity described in step 4 can draw by fluid analysis software Fluent analogue simulation, and described parameter comprises the cavity rate of change V of upstream face and back side
1, V
2, the rate of change V of cavity radius R and cavity radius
r.Other is identical with one of embodiment one to six.
Embodiment eight: present embodiment is different from one of embodiment one to seven is that the concrete method for drafting of the cavity described in step 4 is: model ellipsoid is as matrix, pass through vertex index, the coordinate of judgement upstream face and back side, utilizes vertex shader control vertex Z coordinate to change with cavity rate of change; In order to guarantee the round and smooth type of transition between upstream face and back side, also need to add surface fitting function; The variation of cavity radius R is by apex coordinate X, Y and cavity change in radius speed V
rset up funtcional relationship, wherein R
2=X
2+ Y
2, and R and V
rproportional routine relation; Cavity adopts Alpha passage transparent processing, and sheet unit tinter is controlled color and the transparency of cavity.Other is identical with one of embodiment one to seven.
Embodiment nine: what present embodiment was different from one of embodiment one to eight is that the all-round display described in step 6 comprises four viewpoints, i.e. viewpoint, water surface viewpoint, local viewpoint and overall viewpoint under water, by the matrix to camera node, change the conversion that realizes viewpoint, viewpoint change matrix is responsible for the object under world coordinate system to transform in camera coordinates system, and transformation for mula is:
V
vcs=V
wcs·M
view
Wherein, V
vcsfor camera coordinates system, V
wcsfor world coordinate system, M
viewfor viewpoint change matrix.Other is identical with one of embodiment one to eight.
Embodiment ten: what present embodiment was different from one of embodiment one to nine is that the difference functions described in step 5 is 255:30=i:a,
Wherein, difference functions is to carrying out difference between chromatic zones, to 255 deciles between two chromatic zoneses, and scale label 30 deciles, the degree of depth that a is submarine, i is the position at place between chromatic zones.Other is identical with one of embodiment one to nine.
Embodiment 11: present embodiment is different from one of embodiment one to ten is that the method for the driving dynamic simulation described in step 7 is as follows: realize the position of movable body and attitude data are dynamically updated in the frame circulation in VC++ worker thread, based on these data, by OSG thread, scene motion body is carried out to Real Time Drive, in the render process of each frame, to upgrade movable body x, y, z, α, β, θ value, utilize these values that the pose of entity is set, and draw the what comes into a driver's environment of new position, with this, realize the relative motion of what comes into a driver's.Other is identical with one of embodiment one to ten.
Embodiment 12: present embodiment is different from one of embodiment one to 11 is that the described multithreading development approach based on CPU-GPU isomery is as follows: carry out multithreading exploitation based on OO cross-platform thread library OpenThreads, and the texture storage device of bonding apparatus end realizes writing of shading language, comprise writing vertex shader and sheet unit's tinter.In render process, having adopted the threading model of polyphaser, is each graphics device GraphicsContext and each camera establishment thread.This pattern is separated the renewal of scene, cutting and drawing, before the drafting thread of former frame finishes, carry out the renewal work of next frame, if system has CPU and the GPU of enough performances, the scene rendering ability of multitask, multiple graphs equipment, multi-CPU system will be brought into play to greatest extent so.Other is identical with one of embodiment one to 11.
The present invention can complete a series of environment scene three-dimensional visualizations such as ocean, sky, landform; Can complete the three-dimensional visualization of guided missile, submarine, naval vessels; Can complete and comprise ship wave, Missile Plume, go out a series of particIe system three-dimensional visualizations such as cylinder, water outlet; Can complete the three-dimensional visualization of the motion processes such as navigation of submarine, trajectory pose, cavity shape; Can show ocean depth scale, and with the form of buoy, dynamically show the submerged depth of submarine; Can import guided missile data and cavity data and carry out visual simulating; Can draw the various status datas in task process, and can carry out intuitively curve demonstration; Can store and inquire about various telemetries and adjust tactful command information.The function that the inventive method can realize as shown in Figure 1.
Claims (10)
1. submarine launched missile exiting water process three dimension dynamic simulation method, described method is that the multithreading development environment based on CPU-GPU isomery is realized, and it is characterized in that described method comprises following content:
One, build man-machine interactive platform;
Two, latent base guided missile exiting water process three-dimensional modeling and demonstration: utilize Multigen Creator and 3DS MAX to set up the three-dimensional model of submarine, guided missile and surface ship, and set up the virtual emulation scene of ocean, sky, island and submarine topography;
Three, the latent base guided missile water outlet visual modeling based on particIe system: adopt particIe system modeling method, set up uncap bubble, guided missile of ship wave, Missile Plume, magazine and go out a steam, guided missile water outlet water vapor particle special efficacy, the simulation phenomenon in base MISSILE LAUNCHING exiting water process of diving;
Four, the latent base guided missile based on shading language goes out a cavity visual modeling: adopt GLSL shading language to write cavity shape, comprehensive Underwater Missile goes out the mutual and Fluent emulated data of the water-gas in a stage to be set up the base guided missile of diving and goes out a cavity Visualization Model, and simulated missile goes out a cavity Changing Pattern;
Five, ocean depth scale dynamically shows: use projection node to build ocean depth scale, set up the ocean depth function corresponding with change color, and add slip buoy, dynamically show submerged depth and the position of submarine;
Six, the dive various visual angles interactive three-dimensional roaming of base guided missile exiting water process: read in not guided missile and submarine position, attitude data in the same time
wherein, x, y, z represents position coordinates,
θ, ψ represent respectively rolling, pitching, three attitude angle of driftage, and scene motion body is carried out to Real Time Drive, the situation of change that design is used all-round display observation to dive and penetrate submarine in process, guided missile, ocean;
Seven, the dive key parameter of base guided missile exiting water process is visual: show the parameter information of the position of diving in base guided missile exiting water process, attitude, speed aspect, and draw the change curve of the position of not diving in the same time in base guided missile exiting water process, attitude, speed.
2. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 1, it is characterized in that the man-machine interactive platform of building described in step 1 built under VC++ and OSG 3 d rendering engine environment, VC++ is for constructing system platform and interface, and OSG 3 d rendering engine provides virtual reality technology for realizing the three-dimensional emulation of the base guided missile exiting water process of diving.
3. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 2, it is characterized in that the three-dimensional model described in step 2 stores in the binary file mode of IVE form.
4. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 3, the concrete grammar that it is characterized in that the latent base guided missile exiting water process three-dimensional modeling described in step 2 is as follows: according to real submarine, guided missile size, utilize three-dimensional animation to play up making software 3DS MAX and reconstruct corresponding virtual three-dimensional object entity, use texturing, boolean operation method is processed and configuration, and derive with FLT formatted file, utilize three-dimensional simulation modeling software Multigen Creator to set up degree of freedom DOF node to submarine magazine hatchcover and tail undercarriage, use OSG access above-mentioned node and call, realize screw propeller rotation and magazine hatchcover opening and closing function, while drawing submarine and naval vessel model, adopt detail LOD technology, by the many groups of drafting schemes that go from the simple to the complex, realize playing up of same model, and the LOD arranging while drawing near switches action, finally FLT formatted file is converted to IVE formatted file.
5. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 4, it is characterized in that the Ocean Scenes emulation described in step 2 is to carry out secondary development based on the ocean simulation scheme osgOcean that increases income, attainable function have the reflection of wave animation, sea inverted image, light and refraction, Fresnel effect, Underwater Optical according to, floating curtain particle, the oceanic purpose such as distortion distortion under water under water; Described Sky Scene emulation is to utilize texture mapping method, sky picture is mapped to the inner side of day sylphon, and in conjunction with illumination system, realizes the sky effect of scene; Island and submarine topography scene simulation are to use Global Mapper to download altitude figures DEM, use Google Earth to download data texturing, finally adopt Multigen Creator to synthesize processing to described data, realize island and submarine topography model.
6. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 5, the state parameter that it is characterized in that the cavity described in step 4 can draw by fluid analysis software Fluent analogue simulation, and described parameter comprises the cavity rate of change V of upstream face and back side
1, V
2, the rate of change V of cavity radius R and cavity radius
r.
7. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 6, the concrete method for drafting that it is characterized in that the cavity described in step 4 is: model ellipsoid is as matrix, pass through vertex index, the coordinate of judgement upstream face and back side, utilizes vertex shader control vertex Z coordinate to change with cavity rate of change; In order to guarantee the round and smooth type of transition between upstream face and back side, also need to add surface fitting function; The variation of cavity radius R is by apex coordinate X, Y and cavity change in radius speed V
rset up funtcional relationship, wherein R
2=X
2+ Y
2, and R and V
rproportional routine relation; Cavity adopts Alpha passage transparent processing, and sheet unit tinter is controlled color and the transparency of cavity.
8. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 7, it is characterized in that the all-round display described in step 6 comprises four viewpoints, i.e. viewpoint, water surface viewpoint, local viewpoint and overall viewpoint under water, by the matrix to camera node, change the conversion that realizes viewpoint, viewpoint change matrix is for transforming to the object under world coordinate system camera coordinates system, and transformation for mula is:
V
vcs=V
wcs·M
view
Wherein, V
vcsfor camera coordinates system, V
wcsfor world coordinate system, M
viewfor viewpoint change matrix.
9. the submarine launched missile exiting water process three dimension dynamic simulation method described according to Claim 8, is characterized in that the function described in step 5 is 255:30=i:a,
Wherein, difference functions is to carrying out difference between chromatic zones, to 255 deciles between two chromatic zoneses, and scale label 30 deciles, the degree of depth that a is submarine, i is the position at place between chromatic zones.
10. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 9, the method that it is characterized in that the driving dynamic simulation described in step 8 is as follows: in the frame circulation in VC++ worker thread, realize the position of movable body and attitude data are dynamically updated, based on these data, by OSG thread, scene motion body is carried out to Real Time Drive, in the render process of each frame, to upgrade movable body x, y, z
θ, ψ value, utilizes these values that the pose of entity is set, and draws the what comes into a driver's environment of new position, with this, realizes the relative motion of what comes into a driver's.
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