CN103645933A - Control method and device - Google Patents
Control method and device Download PDFInfo
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- CN103645933A CN103645933A CN201310648104.9A CN201310648104A CN103645933A CN 103645933 A CN103645933 A CN 103645933A CN 201310648104 A CN201310648104 A CN 201310648104A CN 103645933 A CN103645933 A CN 103645933A
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Abstract
The invention discloses a control method and device. The method comprises the steps that preset flight profile data of a flying target are acquired; a motion type module library of the flying target is generated according to the flying profile data; wherein the motion type module library comprises a plurality of motion type modules which are sequentially connected, and a motion switching condition is achieved between two adjacent motion type modules; the flying target is sequentially controlled to carry out corresponding motions according to the motion parameters of the motion type modules; when the current dynamic parameter of the motion carried by the flying target meets the motion switching condition between the current motion type module and the next motion type module, the flying target is controlled to carry out corresponding motion according to the motion parameter of the next motion type module of the current motion type module; a flying scene module of the flying target is generated according to the motion carried out by the flying target.
Description
Technical field
The application relates to flight simulation technology field, particularly a kind of control method and device.
Background technology
It is to utilize flight simulation technology to simulate the flying scene of specific airbound target that flight simulation prefers scene, in the demonstration of flight Simulation System preliminary project, prefer the applications such as posture of operation scenario simulation, airborne radar environmental simulation, target following environment and have important value.
Existing flight simulation prefers in the implementation procedure of scene, normally according to the flight simulation scene requirement of specific airbound target, utilizes modeling tool to carry out model buildings realization as simulink.Now, a kind of flight simulation of airbound target prefers the corresponding realistic model of model of place.
But in existing scheme, when needs change or upgrade certain demand of flight simulation scene of certain airbound target, often need realistic model integral body to modify, make flight simulation prefer the implementation efficiency of model of place lower.
Summary of the invention
The application's technical matters to be solved is to provide a kind of control method and device, in order to solve existing flight simulation, prefer in the implementation of model of place, when needs change or upgrade certain demand of flight simulation scene, often need realistic model integral body to modify, make flight simulation prefer the implementation efficiency of scene lower.
The application provides a kind of control method, comprising:
Obtain the default flight profile, mission profile data of airbound target;
According to described flight profile, mission profile data, generate the type of sports module library of described airbound target; Wherein, described type of sports module library comprises a plurality of type of sports modules, is connected in turn, and has motion switching condition between adjacent two type of sports modules between described type of sports module;
Control successively described airbound target and carry out corresponding action according to the kinematic parameter of type of sports module described in each;
When current dynamic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module;
According to the action of described airbound target execution, generate the flying scene model of described airbound target.
Said method, preferred, the described flight profile, mission profile data of described foundation, generate the type of sports module library of described airbound target, comprising:
Resolve described flight profile, mission profile data, obtain a plurality of inflight phases of described airbound target, described in each, inflight phase is corresponding with a type of sports respectively;
Respectively described inflight phase is carried out to motion simulation modular design, obtain respectively and each self-corresponding type of sports module of inflight phase described in each;
According to type of sports module described in each, generate the type of sports module library of described airbound target.
Said method, preferred, describedly control successively described airbound target and carry out corresponding action according to the kinematic parameter of type of sports module described in each, comprising:
Extract respectively in described type of sports module library the kinematic parameter of type of sports module described in each;
Control successively described airbound target and carry out corresponding action according to kinematic parameter described in each.
Said method, preferred, the described airbound target of described control is carried out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module, comprising:
Extract the current state parameter of described airbound target;
The current initial parameter that the described current state parameter of take is described airbound target, controls described airbound target and carries out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.
Said method, preferred, the action that the described airbound target of described foundation is carried out, generates the flying scene model of described airbound target, comprising:
According to the annexation in turn between described type of sports module, the action that described airbound target is carried out according to the kinematic parameter of type of sports module described in each connects combination;
According to combining the continuous action obtaining, generate the flying scene model of described airbound target.
Said method, preferred, after the flying scene model of the described airbound target of described generation, described method also comprises:
According to the flying scene model of described airbound target, the situation that generates described airbound target shows data;
Described situation is shown to data show.
The application also provides a kind of control device, comprising:
Cross-sectional data acquiring unit, for obtaining the default flight profile, mission profile data of airbound target;
Module library generation unit, for according to described flight profile, mission profile data, generates the type of sports module library of described airbound target; Wherein, described type of sports module library comprises a plurality of type of sports modules, is connected in turn, and has motion switching condition between adjacent two type of sports modules between described type of sports module;
Target control unit, carries out corresponding action for controlling successively described airbound target according to the kinematic parameter of type of sports module described in each; When current kinematic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module;
Model of place generation unit, for the action of carrying out according to described airbound target, generates the flying scene model of described airbound target.
Said apparatus, preferred, described module library generation unit comprises:
Data Analysis subelement, for resolving described flight profile, mission profile data, obtains a plurality of inflight phases of described airbound target, and described in each, inflight phase is corresponding with a type of sports respectively;
Modular design subelement, for respectively described inflight phase being carried out to motion simulation modular design, obtains respectively and each self-corresponding type of sports module of inflight phase described in each;
Module library generates subelement, for according to type of sports module described in each, generates the type of sports module library of described airbound target.
Said apparatus, preferred, described target control unit comprises:
The first parameter extraction subelement, for extracting respectively the kinematic parameter of described type of sports module library type of sports module described in each;
Action executing is controlled subelement, for controlling described flight module successively, according to the kinematic parameter of type of sports module described in each, carry out corresponding action, when current kinematic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, trigger the second parameter extraction subelement;
The second parameter extraction subelement, for extracting the current state parameter of described airbound target;
Switching controls subelement, for take the current initial parameter that described current state parameter is described airbound target, trigger described Motor execution and control subelement and control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.
Said apparatus, preferred, described model of place generation unit comprises:
Action connects combination subelement, and for the annexation in turn according between described type of sports module, the action that described airbound target is carried out according to the kinematic parameter of type of sports module described in each connects combination;
Model generation subelement, for the continuous action obtaining according to combination, generates the flying scene model of described airbound target.
Said apparatus, preferred, also comprise:
Show data generating unit, for after described model of place generation unit generates the flying scene model of described airbound target, according to the flying scene model of described airbound target, the situation that generates described airbound target shows data;
Data display unit, for showing that by described situation data show.
Known in such scheme, a kind of control method and device that the application provides, after getting the default flight profile, mission profile data of airbound target, by according to these flight profile, mission profile data, generate a plurality of type of sports modules of airbound target, thus, control successively airbound target and carry out respective action according to the kinematic parameter of each type of sports module, and the current kinematic parameter performing an action at airbound target is while meeting its corresponding motion switching condition, control airbound target and carry out respective action according to the kinematic parameter of the type of sports module after switching, and then the action of carrying out according to airbound target, generate the flying scene model of airbound target, realize the object that the application realizes flying scene model.In the application's specific implementation, in the time need to changing some demands of model of place, can directly to the kinematic parameter of the motion switching condition in flight profile, mission profile data or type of sports module, modify, without re-establishing even model of place etc. of type of sports module, avoided in prior art, needing the model of whole flying scene to reappear the problem that causes this model realization efficiency lower, thus, the application not only can effectively realize the flying scene model generation of airbound target, and improves the implementation efficiency of the flying scene model of airbound target.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present application, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiment of the application, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The process flow diagram of a kind of control method embodiment mono-that Fig. 1 provides for the application;
The part process flow diagram of a kind of control method embodiment bis-that Fig. 2 provides for the application;
The part process flow diagram of a kind of control method embodiment tri-that Fig. 3 provides for the application;
Fig. 4 is another part process flow diagram of the embodiment of the present application three;
The part process flow diagram of a kind of control method embodiment tetra-that Fig. 5 provides for the application;
The part process flow diagram of a kind of control method embodiment five that Fig. 6 provides for the application;
Fig. 7 is the exemplary plot of the embodiment of the present application five;
The structural representation of a kind of control device embodiment six that Fig. 8 provides for the application;
The part-structure schematic diagram of a kind of control device embodiment seven that Fig. 9 provides for the application;
The part-structure schematic diagram of a kind of control device embodiment eight that Figure 10 provides for the application;
The part-structure schematic diagram of a kind of control device embodiment nine that Figure 11 provides for the application;
The part-structure schematic diagram of a kind of control device embodiment ten that Figure 12 provides for the application.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only the application's part embodiment, rather than whole embodiment.Embodiment based in the application, those of ordinary skills are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the application's protection.
With reference to figure 1, the process flow diagram of a kind of control method embodiment mono-providing for the application, described method is applicable in the realization of the single flying scene of some airbound targets, also go in the realization of the flying scene to containing a plurality of airbound targets, wherein, described method can comprise the following steps:
Step 101: the default flight profile, mission profile data of obtaining airbound target.
Wherein, described flight profile, mission profile data refer to, the flight track figure of drawing for completing a certain particular flight task, for example, the flight profile, mission profile data of fighter plane refer to that fighter plane has been the fighter flight flight path figure that a certain particular flight task is drawn, being the ingredient of flight tactics requirement and important design considerations, is also a kind of form of figurative expression aerial mission.
When the embodiment of the present application is applied to the flying scene model realization to an airbound target, in described default flight profile, mission profile data, can comprise the original state parameter of carrier aircraft, each type of sports comprising in the flight profile, mission profile of the original state parameter of airbound target, airbound target as the handoff parameter between circular motion or serpentine locomotion etc., adjacent type of sports as the flight time or relatively the distance etc. of carrier aircraft and kinematic parameter corresponding to each type of doing exercises as cycle of the moving radius of circular motion or serpentine locomotion etc.And in the embodiment of the present application application during to the flying scene model realization of a plurality of airbound targets, in described default flight profile, mission profile data, can comprise the original state parameter of carrier aircraft, the number of airbound target, each type of sports comprising in the original state parameter of each airbound target, the flight profile, mission profile of each airbound target as the handoff parameter between circular motion or serpentine locomotion etc., adjacent type of sports as the flight time or relatively the distance etc. of carrier aircraft and kinematic parameter corresponding to each type of doing exercises as cycle of the moving radius of circular motion or serpentine locomotion etc.
It should be noted that, the embodiment of the present application is described in specific implementation during step 101, can interface be set by default simulation parameter, by user or model realization person, by this simulation parameter, interface being set is that flight profile, mission profile data are as the original state parameter of above-mentioned airbound target to demand data corresponding in flying scene model to be achieved, each type of sports comprising in the flight profile, mission profile of airbound target is inputted as circular motion or serpentine locomotion etc., in the step 101 of the embodiment of the present application, these demand data are obtained, realize thus obtaining the flight profile, mission profile data of airbound target.
Step 102: according to described flight profile, mission profile data, generate the type of sports module library of described airbound target.
Wherein, in described type of sports module library, can comprise a plurality of type of sports modules, described in each, between type of sports module, be connected in turn, and there is motion switching condition between adjacent two type of sports modules.
It should be noted that, known in the content of above-mentioned flight profile, mission profile data, described airbound target can have multiple different type of sports, as circular motion, rectilinear motion, parabolic motion etc., thus, in described step 102 according to these flight profile, mission profile data, generate the type of sports module library of described airbound target, in this type of sports module library, include a plurality of type of sports modules of airbound target, and each type of sports module has it specifically in turn, with described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, now, in the type of sports module library of described airbound target, include rectilinear motion type block, circular motion type block and parabolic motion type block, and these three type of sports modules are with specific annexation in turn, i.e. rectilinear motion type block first, circular motion type block afterwards, last parabolic motion type block, between every adjacent two type of sports modules, there is motion switching condition, with described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, between described rectilinear motion type block and described circular motion type block, there is motion switching condition, between described circular motion type block and described parabolic motion type block, there is motion switching condition.
Wherein, described motion switching condition can be in described flight profile, mission profile data the handoff parameter between adjacent type of sports as flight time or the generations such as distance of carrier aircraft relatively.
Concrete, above-mentionedly between type of sports module, be connected in turn described in each, refer to and can realize by each type of sports module being arranged to the mode of fixed number, and between the numbering of each type of sports module, have annexation, and type of sports module stores or arrangement position in described type of sports module library is not limited to consistent with the annexation in turn of its numbering.
Step 103: control successively described airbound target and carry out corresponding action according to the kinematic parameter of type of sports module described in each.
Wherein, when current dynamic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.
From above describing, described in each, between type of sports module, there is annexation in turn, thus, in described step 103, successively respectively according to the kinematic parameter of type of sports module described in each, control described airbound target and carry out corresponding action.
It should be noted that, all corresponding its specific kinematic parameter of described type of sports module, for example, the kinematic parameter of rectilinear motion type block can comprise velocity amplitude, accekeration etc., and the kinematic parameter of circular motion type block can comprise moving radius value and centripetal acceleration value etc.
And in described step 103, described airbound target is in course of action corresponding to the kinematic parameter of carrying out current type of sports module, by the current dynamic parameter of airbound target described in Real-Time Monitoring, when the current dynamic parameter of described airbound target meets the motion switching condition between its current type of sports module and next type of sports module, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.That is to say, in described step 103, described airbound target is in carrying out current course of action, when the current state parameter of this airbound target meets its current motion switching condition, in described step 103, control described airbound target and carry out respective action according to the kinematic parameter of its next type of sports module, realization is controlled successively described airbound target and is carried out corresponding action according to the kinematic parameter of type of sports module described in each.
Wherein, the numbering being connected in relation in turn described in can utilizing in described step 103, in type of sports module library, determine successively the type of sports module corresponding with current numbering, thus, realization is controlled successively described airbound target and is carried out corresponding action according to the kinematic parameter of type of sports module described in each, and the current dynamic parameter performing an action at described airbound target is while meeting the motion switching condition between its current type of sports module and next type of sports module, utilize the numbering of next type of sports module of described current type of sports module, in type of sports module library, definite this numbered corresponding type of sports module, control thus the kinematic parameter that described airbound target numbers corresponding type of sports module according to this and carry out corresponding action.
With described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, the type of sports module library of described airbound target comprises rectilinear motion type block, circular motion type block and parabolic motion type block, in described step 103 when realize controlling described airbound target and carry out the kinematic parameter respective action of described rectilinear motion type block, can take described airbound target initial parameter as position and speed etc. be initial parameter corresponding to this rectilinear motion type block, controlling described airbound target carries out the rectilinear flight corresponding with the velocity amplitude of described rectilinear motion type block or accekeration etc. and moves, at described airbound target, carry out in the process of current rectilinear flight action, described airbound target being carried out to the current dynamic parameter of current action monitors, the current dynamic parameter of carrying out current rectilinear flight action at described airbound target is when met position or executed current actuation time etc. the motion switching condition between described rectilinear motion type block and circular motion type block, and controlling described airbound target finishes current rectilinear flight action and move according to the kinematic parameter execution circular flight of described circular motion type block, at described airbound target, carry out in the process of current circular flight action, described airbound target being carried out to the current dynamic parameter of current action monitors, the current dynamic parameter of carrying out the action of current circular flight at described airbound target is during as motion switching condition between circular motion type block as described in meeting position or executed current actuation time etc. and parabolic motion type block, controlling described airbound target finishes current circular flight action and carries out parabolic flight action according to the kinematic parameter of described parabolic motion type block, until when in the current dynamic parameter of described airbound target and the kinematic parameter of described parabolic motion type block, the parameter of stop motion is consistent, the control of end to airbound target.
Step 104: according to the action of described airbound target execution, generate the flying scene model of described airbound target.
Wherein, the action that airbound target described in described step 104 is carried out, comprise in above-mentioned steps 103 and control described airbound target according to each performed action of the kinematic parameter of each type of sports module, thus, in described step 104, can, according to each action performed in described airbound target, generate the flying scene model of described airbound target.
From such scheme, a kind of control method embodiment mono-that the application provides is after getting the default flight profile, mission profile data of airbound target, by according to these flight profile, mission profile data, generate a plurality of type of sports modules of airbound target, thus, control successively airbound target and carry out respective action according to the kinematic parameter of each type of sports module, and the current kinematic parameter performing an action at airbound target is while meeting its corresponding motion switching condition, control airbound target and carry out respective action according to the kinematic parameter of the type of sports module after switching, and then the action of carrying out according to airbound target, generate the flying scene model of airbound target, realize the object that the application realizes flying scene model.In the embodiment of the present application one specific implementation, in the time need to changing some demands of model of place, can directly to the kinematic parameter of the motion switching condition in flight profile, mission profile data or type of sports module, modify, without re-establishing even model of place etc. of type of sports module, avoided in prior art, needing the model of whole flying scene to reappear the problem that causes this model realization efficiency lower, thus, the embodiment of the present application one not only can effectively realize the flying scene model generation of airbound target, and improve the implementation efficiency of the flying scene model of airbound target.
It should be noted that, the implementation of above-mentioned the embodiment of the present application one is for generating the process of controlling to the flying scene model of an airbound target, during flying scene model that this implementation also goes for containing a plurality of airbound targets in realization, can adopt the modes such as type of sports module reuse, realize fast the requirement of the different flight profile, mission profiles of a plurality of airbound targets, for example in MATLAB/simulink, by ForEach module, realize, in C voice, can pass through reenterability (Reentrant) code realizes, thereby realize the generation of the flying scene model of each airbound target, after generating the flying scene model of each airbound target, the flying scene model of these airbound targets is combined to foundation, obtain whole flying scene model, it realizes method and the unity of thinking in principle and the embodiment of the present application one, in the application's scope required for protection.
With reference to figure 2, the process flow diagram of step 102 described in a kind of control method embodiment bis-providing for the application, wherein, described step 102 can realize by following steps:
Step 201: resolve described flight profile, mission profile data, obtain a plurality of inflight phases of described airbound target.
Wherein, described in each, inflight phase is corresponding with a type of sports respectively.
It should be noted that, described step 201 is specific implementation in the following manner:
The flight profile, mission profile of this airbound target in the flight profile, mission profile data of described airbound target, according to different type of sports, be divided into different inflight phases, and each inflight phase is corresponding with a type of sports.For example, the aerial mission of described airbound target of take comprises rectilinear motion, circular motion and then parabolic motion are example again, to according to type of sports, carry out segmentation to described flight profile, mission profile, obtain inflight phase corresponding to rectilinear motion type, inflight phase corresponding to inflight phase, parabolic motion corresponding to circular motion type.
Step 202: respectively described inflight phase is carried out to motion simulation modular design, obtain respectively and each self-corresponding type of sports module of inflight phase described in each.
The inflight phase of above-mentioned airbound target of take is respectively inflight phase corresponding to rectilinear motion type, inflight phase corresponding to inflight phase, parabolic motion corresponding to circular motion type is example, in described step 202, be specifically as follows: respectively inflight phase corresponding to rectilinear motion type, inflight phase corresponding to inflight phase, parabolic motion corresponding to circular motion type are carried out to independent motion simulation modular design, obtain rectilinear motion type block, circular motion type block, parabolic motion module.
Step 203: according to type of sports module described in each, generate the type of sports module library of described airbound target.
Wherein, described step 203 can obtain in the following manner type of sports module library in specific implementation:
By described type of sports module according to its separately the order of corresponding inflight phase in flight profile, mission profile data combine, obtain type of sports module library, between each type of sports module in this type of sports module library, be connected in turn, and between adjacent two type of sports modules, there is motion switching condition, realize the realization to type of sports module library.
With reference to figure 3, the part process flow diagram of step 103 described in a kind of control method embodiment tri-providing for the application, wherein, in described step 103, realizing when controlling successively described airbound target and carrying out corresponding action according to the kinematic parameter of type of sports module described in each, can realize by following steps:
Step 301: the kinematic parameter that extracts respectively in described type of sports module library type of sports module described in each.
Wherein, from above, described type of sports module all has specific kinematic parameter corresponding, thus, can be by its each self-corresponding kinematic parameter being obtained according to type of sports module described in each in described step 301, also can carry out data extraction by the type of sports module to containing its special exercise parameter, obtain its each self-corresponding kinematic parameter.
Step 302: control successively described airbound target and carry out corresponding action according to kinematic parameter described in each.
It should be noted that, " successively " in described step 302 refers to: the in turn annexation of described type of sports module in its type of sports module library.
And control successively described airbound target in described step 103, according to the kinematic parameter of type of sports module described in each, carry out in the process of corresponding action, relating to airbound target need to be when adjacent two type of sports modules be carried out the action switching that corresponding kinematic parameter is corresponding separately, need to control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module, concrete, with reference to figure 4, for controlling described airbound target in described step 103, according to the kinematic parameter of next type of sports module of described current type of sports module, carry out the particular flow sheet of corresponding action, be specially:
Step 401: the current state parameter of extracting described airbound target.
Wherein, described step 401 specifically can realize in the following manner:
Obtain described airbound target and carry out the output state data of current action, in described output state extracting data current state parameter, as position and instantaneous velocity value etc.Wherein, described output state data refer to output state data when described airbound target finishes according to the kinematic parameter execution respective action of described current type of sports module, comprise the absolute position of described airbound target or with respect to the relative position of carrier aircraft or instantaneous velocity value etc., follow-up, can carry out data extraction to described output state data thus, obtain the current state parameter of described airbound target.
Step 402: the current initial parameter that the described current state parameter of take is described airbound target, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.
Wherein, when the described airbound target of control is carried out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module, its current initial parameter is this airbound target and carries out the state parameter after respective action according to the kinematic parameter of current type of sports module.
That is to say, in the embodiment of the present application, the convergence body between the different motion type block of the flight profile, mission profile of an airbound target is the initial value of next type of sports module and the output of type of sports module library now.When carrying out the switching of sporting flying type block, the application can export the motion state of current time target, as the initial value of next type of sports module, realizes the dynamic setting of type of sports initial value.
Wherein, in type of sports module library, corresponding type of sports module can be resolved, and the output using the output of module as type of sports module library, and other type of sports module can be disabled, to optimize execution efficiency.
With described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, the type of sports module library of described airbound target comprises rectilinear motion type block, circular motion type block and parabolic motion type block, in described step 103 when realize controlling described airbound target and carry out the kinematic parameter respective action of described rectilinear motion type block, can take described airbound target initial parameter as position and speed etc. be initial parameter corresponding to this rectilinear motion type block, controlling described airbound target carries out the rectilinear flight corresponding with the velocity amplitude of described rectilinear motion type block or accekeration etc. and moves, at described airbound target, carry out in the process of current rectilinear flight action, described airbound target being carried out to the current dynamic parameter of current action monitors, the current dynamic parameter of carrying out current rectilinear flight action at described airbound target is during as motion switching condition between rectilinear motion type block as described in meeting position or executed current actuation time etc. and circular motion type block, control described airbound target and finish current rectilinear flight action, extract the current state parameter of described airbound target, and using the current initial parameter of described current state parameter as described airbound target, according to the kinematic parameter of described circular motion type block, carry out circular flight action, at described airbound target, carry out in the process of current circular flight action, described airbound target being carried out to the current dynamic parameter of current action monitors, the current dynamic parameter of carrying out the action of current circular flight at described airbound target is during as motion switching condition between circular motion type block as described in meeting position or executed current actuation time etc. and parabolic motion type block, control described airbound target and finish current circular flight action, extract the current state parameter of described airbound target, and using the current initial parameter of described current state parameter as described airbound target, according to the kinematic parameter of described parabolic motion type block, carry out parabolic flight action, until when in the current dynamic parameter of described airbound target and the kinematic parameter of described parabolic motion type block, the parameter of stop motion is consistent, the control of end to airbound target.
With reference to figure 5, the process flow diagram of step 104 described in a kind of control method embodiment tetra-providing for the application, wherein, described step 104 can comprise the following steps:
Step 501: according to the annexation in turn between described type of sports module, the action that described airbound target is carried out according to the kinematic parameter of type of sports module described in each connects combination.
Wherein, in described step 501, the action of described airbound target is connected to combination, the mode that can adopt ending to connect combines, and obtains continuous action.
Step 502: according to combining the continuous action obtaining, generate the flying scene model of described airbound target.
Wherein, in described step 502, can, by modelling algorithm, according to described continuous action, generate the flying scene model of airbound target.
In addition, generation is controlled in the application's realization to the flying scene model of airbound target after, can realize the situation of airbound target is shown by mode as shown in Figure 6, be, with reference to figure 6, the part process flow diagram of a kind of control method embodiment five providing for the application, wherein, after described step 104, described method can also comprise:
Step 105: according to the flying scene model of described airbound target, the situation that generates described airbound target shows data.
Wherein, described situation shows that data can represent by the form of graphical interfaces.
Step 106: described situation is shown to data show.
Wherein, in described step 106, can by the situation representing with graphical interfaces form, show that data show on various display devices, as shown in the situation display interface of the flying scene model of a plurality of airbound targets in Fig. 7.
With reference to figure 8, the structural representation of a kind of control device embodiment six providing for the application, wherein, described device is applicable in the realization of the single flying scene of some airbound targets, also go in the realization of the flying scene to containing a plurality of airbound targets, wherein, described device can comprise:
Cross-sectional data acquiring unit 801, for obtaining the default flight profile, mission profile data of airbound target.
Wherein, described flight profile, mission profile data refer to, the flight track figure of drawing for completing a certain particular flight task, for example, the flight profile, mission profile data of fighter plane refer to that fighter plane has been the fighter flight flight path figure that a certain particular flight task is drawn, being the ingredient of flight tactics requirement and important design considerations, is also a kind of form of figurative expression aerial mission.
When the embodiment of the present application is applied to the flying scene model realization to an airbound target, in described default flight profile, mission profile data, can comprise the original state parameter of carrier aircraft, each type of sports comprising in the flight profile, mission profile of the original state parameter of airbound target, airbound target as the handoff parameter between circular motion or serpentine locomotion etc., adjacent type of sports as the flight time or relatively the distance etc. of carrier aircraft and kinematic parameter corresponding to each type of doing exercises as cycle of the moving radius of circular motion or serpentine locomotion etc.And in the embodiment of the present application application during to the flying scene model realization of a plurality of airbound targets, in described default flight profile, mission profile data, can comprise the original state parameter of carrier aircraft, the number of airbound target, each type of sports comprising in the original state parameter of each airbound target, the flight profile, mission profile of each airbound target as the handoff parameter between circular motion or serpentine locomotion etc., adjacent type of sports as the flight time or relatively the distance etc. of carrier aircraft and kinematic parameter corresponding to each type of doing exercises as cycle of the moving radius of circular motion or serpentine locomotion etc.
It should be noted that, in the embodiment of the present application, described cross-sectional data acquiring unit 801 is when specific implementation, can interface be set by simulation parameter is set, by user or model realization person, listening this simulation parameter that interface is set is that flight profile, mission profile data are as the original state parameter of above-mentioned airbound target to demand data corresponding in flying scene model to be achieved, each type of sports comprising in the flight profile, mission profile of airbound target is inputted as circular motion or serpentine locomotion etc., by described cross-sectional data acquiring unit 801, these demand data are obtained in the embodiment of the present application, realize thus obtaining the flight profile, mission profile data of airbound target.
Module library generation unit 802, for according to described flight profile, mission profile data, generates the type of sports module library of described airbound target; Wherein, described type of sports module library comprises a plurality of type of sports modules, is connected in turn, and has motion switching condition between adjacent two type of sports modules between described type of sports module.
It should be noted that, known in the content of above-mentioned flight profile, mission profile data, described airbound target can have multiple different type of sports, as circular motion, rectilinear motion, parabolic motion etc., thus, described module library generation unit 802 is according to these flight profile, mission profile data, generate the type of sports module library of described airbound target, in this type of sports module library, include a plurality of type of sports modules of airbound target, and each type of sports module has it specifically in turn, with described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, now, in the type of sports module library of described airbound target, include rectilinear motion type block, circular motion type block and parabolic motion type block, and these three type of sports modules are with specific annexation in turn, i.e. rectilinear motion type block first, circular motion type block afterwards, last parabolic motion type block, between every adjacent two type of sports modules, there is motion switching condition, with described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, between described rectilinear motion type block and described circular motion type block, there is motion switching condition, between described circular motion type block and described parabolic motion type block, there is motion switching condition.
Wherein, described motion switching condition can be in described flight profile, mission profile data the handoff parameter between adjacent type of sports as flight time or the generations such as distance of carrier aircraft relatively.
From above describing, described in each, between type of sports module, there is annexation in turn, thus, described target control unit 803 respectively according to the kinematic parameter of type of sports module described in each, is controlled described airbound target and is carried out corresponding action successively.
It should be noted that, all corresponding its specific kinematic parameter of described type of sports module, for example, the kinematic parameter of rectilinear motion type block can comprise velocity amplitude, accekeration etc., and the kinematic parameter of circular motion type block can comprise moving radius value and centripetal acceleration value etc.
And described airbound target is being controlled in course of action corresponding to the kinematic parameter of the current type of sports module of execution in described target control unit 803, can be by the current dynamic parameter of airbound target described in Real-Time Monitoring, when the current dynamic parameter of described airbound target meets the motion switching condition between its current type of sports module and next type of sports module, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.That is to say, described airbound target is controlled in carrying out current course of action in described target control unit 803, when the current state parameter of this airbound target meets its current motion switching condition, control described airbound target and carry out respective action according to the kinematic parameter of its next type of sports module, realization is controlled successively described airbound target and is carried out corresponding action according to the kinematic parameter of type of sports module described in each.
With described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, the type of sports module library of described airbound target comprises rectilinear motion type block, circular motion type block and parabolic motion type block, when the kinematic parameter respective action of described rectilinear motion type block is carried out at the described airbound target of realization control in described target control unit 803, can take described airbound target initial parameter as position and speed etc. be initial parameter corresponding to this rectilinear motion type block, controlling described airbound target carries out the rectilinear flight corresponding with the velocity amplitude of described rectilinear motion type block or accekeration etc. and moves, at described airbound target, carry out in the process of current rectilinear flight action, described airbound target being carried out to the current dynamic parameter of current action monitors, the current dynamic parameter of carrying out current rectilinear flight action at described airbound target is when met position or executed current actuation time etc. the motion switching condition between described rectilinear motion type block and circular motion type block, and controlling described airbound target finishes current rectilinear flight action and move according to the kinematic parameter execution circular flight of described circular motion type block, and described the carry out in the process of current circular flight action at described airbound target, described airbound target being carried out to the current dynamic parameter of current action monitors, the current dynamic parameter of carrying out the action of current circular flight at described airbound target is during as motion switching condition between circular motion type block as described in meeting position or executed current actuation time etc. and parabolic motion type block, controlling described airbound target finishes current circular flight action and carries out parabolic flight action according to the kinematic parameter of described parabolic motion type block, until when in the current dynamic parameter of described airbound target and the kinematic parameter of described parabolic motion type block, the parameter of stop motion is consistent, the control of end to airbound target.
Model of place generation unit 804, for the action of carrying out according to described airbound target, generates the flying scene model of described airbound target.
Wherein, the action that the described airbound target that described model of place generation unit 804 is mentioned to is carried out, comprise in described target control unit 803 and control described airbound target according to each performed action of the kinematic parameter of each type of sports module, thus, performed each action in described model of place generation unit 804 can be according to described airbound target, generates the flying scene model of described airbound target.
From such scheme, a kind of control device embodiment six that the application provides, after getting the default flight profile, mission profile data of airbound target, by according to these flight profile, mission profile data, generate a plurality of type of sports modules of airbound target, thus, control successively airbound target and carry out respective action according to the kinematic parameter of each type of sports module, and the current kinematic parameter performing an action at airbound target is while meeting its corresponding motion switching condition, control airbound target and carry out respective action according to the kinematic parameter of the type of sports module after switching, and then the action of carrying out according to airbound target, generate the flying scene model of airbound target, realize the object that the application realizes flying scene model.In the embodiment of the present application six specific implementations, in the time need to changing some demands of model of place, can directly to the kinematic parameter of the motion switching condition in flight profile, mission profile data or type of sports module, modify, without re-establishing even model of place etc. of type of sports module, avoided in prior art, needing the model of whole flying scene to reappear the problem that causes this model realization efficiency lower, thus, the embodiment of the present application six not only can effectively realize the flying scene model generation of airbound target, and improve the implementation efficiency of the flying scene model of airbound target.
It should be noted that, the implementation of above-mentioned the embodiment of the present application six is for generating the process of controlling to the flying scene model of an airbound target, during flying scene model that this implementation also goes for containing a plurality of airbound targets in realization, the generation of the flying scene model of each airbound target, after generating the flying scene model of each airbound target, the flying scene model of these airbound targets is combined to foundation, obtain whole flying scene model, it realizes structure and the unity of thinking in principle and the embodiment of the present application six, in the application's scope required for protection.
With reference to figure 9, the structural representation of module library generation unit 802 described in a kind of control device embodiment seven providing for the application, wherein, described module library generation unit 802 can comprise:
Data Analysis subelement 821, for resolving described flight profile, mission profile data, obtains a plurality of inflight phases of described airbound target, and wherein, described in each, inflight phase is corresponding with a type of sports respectively.
It should be noted that, described Data Analysis subelement 821 is specific implementation in the following manner:
The flight profile, mission profile of this airbound target in the flight profile, mission profile data of described airbound target, according to different type of sports, be divided into different inflight phases, and each inflight phase is corresponding with a type of sports.For example, the aerial mission of described airbound target of take comprises rectilinear motion, circular motion and then parabolic motion are example again, to according to type of sports, carry out segmentation to described flight profile, mission profile, obtain inflight phase corresponding to rectilinear motion type, inflight phase corresponding to inflight phase, parabolic motion corresponding to circular motion type.
Modular design subelement 822, for respectively described inflight phase being carried out to motion simulation modular design, obtains respectively and each self-corresponding type of sports module of inflight phase described in each.
The inflight phase of above-mentioned airbound target of take is respectively inflight phase corresponding to rectilinear motion type, inflight phase corresponding to inflight phase, parabolic motion corresponding to circular motion type is example, and described modular design subelement 822 specifically can be realized by following mode:
Respectively inflight phase corresponding to rectilinear motion type, inflight phase corresponding to inflight phase, parabolic motion corresponding to circular motion type are carried out to independent motion simulation modular design, obtain rectilinear motion type block, circular motion type block, parabolic motion module.
Module library generates subelement 823, for according to type of sports module described in each, generates the type of sports module library of described airbound target.
Wherein, described module library generates subelement 823 and can obtain in the following manner type of sports module library in specific implementation:
By described type of sports module according to its separately the order of corresponding inflight phase in flight profile, mission profile data combine, obtain type of sports module library, between each type of sports module in this type of sports module library, be connected in turn, and between adjacent two type of sports modules, there is motion switching condition, realize the realization to type of sports module library.
With reference to Figure 10, the structural representation of target control unit 803 described in a kind of control device embodiment eight providing for the application, wherein, described target control unit 803 can comprise:
The first parameter extraction subelement 831, for extracting respectively the kinematic parameter of described type of sports module library type of sports module described in each.
Wherein, from above, described type of sports module all has specific kinematic parameter corresponding, thus, can be by its each self-corresponding kinematic parameter being obtained according to type of sports module described in each in described the first parameter extraction subelement 831, also can carry out data extraction by the type of sports module to containing its special exercise parameter, obtain its each self-corresponding kinematic parameter.
Action executing is controlled subelement 832, for controlling described flight module successively, according to the kinematic parameter of type of sports module described in each, carry out corresponding action, when current kinematic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, trigger the second parameter extraction subelement.
It should be noted that, " successively " that described action executing is controlled in subelement 832 refers to: the in turn annexation of described type of sports module in its type of sports module library.
The second parameter extraction subelement 833, while meeting the motion switching condition between its current type of sports module and next type of sports module for the current kinematic parameter performing an action when described airbound target, extracts the current state parameter of described airbound target.
Wherein, described action executing is controlled subelement 832 and is carried out in corresponding course of action at the kinematic parameter of controlling airbound target current type of sports module according to one of them, relate to the process of switching or changing to next type of sports module respective action, that is to say, at described action executing, controlling the described flight module of subelement 832 control carries out in corresponding course of action according to the kinematic parameter of current type of sports module, the current kinematic parameter that described in Real-Time Monitoring, airbound target performs an action, when this current kinematic parameter meets the motion switching condition between its current type of sports module and next type of sports module, trigger described the second parameter extraction submodule 833 and described switching controls subelement 834, switching between realization performs an action to type of sports module correspondence.
It should be noted that, described the second parameter extraction subelement 833 specifically can be realized in the following manner:
Obtain described airbound target and carry out the output state data of current action, in described output state extracting data current state parameter, as position and instantaneous velocity value etc.Wherein, described output state data refer to output state data when described airbound target finishes according to the kinematic parameter execution respective action of described current type of sports module, comprise the absolute position of described airbound target or with respect to the relative position of carrier aircraft or instantaneous velocity value etc., follow-up, can carry out data extraction to described output state data thus, obtain the current state parameter of described airbound target.
Switching controls subelement 834, for take the current initial parameter that described current state parameter is described airbound target, trigger described Motor execution and control subelement 832 and control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.
Wherein, when the described airbound target of control is carried out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module, its current initial parameter is this airbound target and carries out the state parameter after respective action according to the kinematic parameter of current type of sports module.
With described airbound target rectilinear motion first, circular motion again, and then parabolic motion is example, the type of sports module library of described airbound target comprises rectilinear motion type block, circular motion type block and parabolic motion type block, described the first parameter extraction subelement 831 extracts respectively the kinematic parameter of type of sports module described in each, thus, by described action executing control subelement 832 take described airbound target initial parameter as position and speed etc. be initial parameter corresponding to this rectilinear motion type block, controlling described airbound target carries out the rectilinear flight corresponding with the velocity amplitude of described rectilinear motion type block or accekeration etc. and moves, at described airbound target, carry out in the process of current rectilinear flight action, described airbound target being carried out to the current dynamic parameter of current action monitors, the current dynamic parameter of carrying out current rectilinear flight action at described airbound target is during as motion switching condition between rectilinear motion type block as described in meeting position or executed current actuation time etc. and circular motion type block, control described airbound target and finish current rectilinear flight action, trigger described the second parameter extraction subelement 833, by described the second parameter extraction subelement 833, extracted the current state parameter of described airbound target, and using the current initial parameter of described current state parameter as described airbound target by described switching controls subelement 834, trigger described action executing and control subelement 832 according to the kinematic parameter execution circular flight action of described circular motion type block, at described airbound target, carry out in the process of current circular flight action, 832 pairs of described airbound targets of described action executing control subelement are carried out the current dynamic parameter of current action and are monitored, the current dynamic parameter of carrying out the action of current circular flight at described airbound target is during as motion switching condition between circular motion type block as described in meeting position or executed current actuation time etc. and parabolic motion type block, control described airbound target and finish current circular flight action, trigger described the second parameter extraction subelement 833, by described the second parameter extraction subelement 833, extracted the current state parameter of described airbound target, and using the current initial parameter of described current state parameter as described airbound target by described switching controls subelement 834, trigger described action executing and control subelement 832 according to the kinematic parameter execution parabolic flight action of described parabolic motion type block, until when in the current dynamic parameter of described airbound target and the kinematic parameter of described parabolic motion type block, the parameter of stop motion is consistent, the control of end to airbound target.
With reference to Figure 11, the structural representation of model of place generation unit 804 described in a kind of control device embodiment nine providing for the application, wherein, described model of place generation unit 804 can comprise:
Action connects combination subelement 841, and for the annexation in turn according between described type of sports module, the action that described airbound target is carried out according to the kinematic parameter of type of sports module described in each connects combination.
Wherein, described action connects combination subelement 841 action of described airbound target is connected to combination, and the mode that can adopt ending to connect combines, and obtains continuous action.
Wherein, described model generation subelement 842 can, by modelling algorithm, according to described continuous action, generate the flying scene model of airbound target.
In addition, generation is controlled in the application's realization to the flying scene model of airbound target after, can realize the situation of airbound target is shown by structure as shown in Figure 12, be, with reference to Figure 12, the part-structure schematic diagram of a kind of control device embodiment ten providing for the application, wherein, described device can also comprise:
Show data generating unit 805, for after described model of place generation unit 804 generates the flying scene model of described airbound target, according to the flying scene model of described airbound target, the situation that generates described airbound target shows data;
Wherein, described situation shows that data can represent by the form of graphical interfaces.
Data display unit 806, for showing that by described situation data show.
Wherein, described data display unit 806 can show that by the situation representing with graphical interfaces form data show on various display devices, as shown in the situation display interface of the flying scene model of a plurality of airbound targets in Fig. 7.
It should be noted that, each embodiment in this instructions all adopts the mode of going forward one by one to describe, and each embodiment stresses is the difference with other embodiment, between each embodiment identical similar part mutually referring to.
Finally, also it should be noted that, in this article, relational terms such as the first and second grades is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply and between these entities or operation, have the relation of any this reality or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the equipment that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or equipment.The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
A kind of control method and the device that above the application are provided are described in detail, applied specific case herein the application's principle and embodiment are set forth, the explanation of above embodiment is just for helping to understand the application's method and core concept thereof; Meanwhile, for one of ordinary skill in the art, the thought according to the application, all will change in specific embodiments and applications, and in sum, this description should not be construed as the restriction to the application.
Claims (11)
1. a control method, is characterized in that, comprising:
Obtain the default flight profile, mission profile data of airbound target;
According to described flight profile, mission profile data, generate the type of sports module library of described airbound target; Wherein, described type of sports module library comprises a plurality of type of sports modules, is connected in turn, and has motion switching condition between adjacent two type of sports modules between described type of sports module;
Control successively described airbound target and carry out corresponding action according to the kinematic parameter of type of sports module described in each;
When current dynamic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module;
According to the action of described airbound target execution, generate the flying scene model of described airbound target.
2. method according to claim 1, is characterized in that, the described flight profile, mission profile data of described foundation generate the type of sports module library of described airbound target, comprising:
Resolve described flight profile, mission profile data, obtain a plurality of inflight phases of described airbound target, described in each, inflight phase is corresponding with a type of sports respectively;
Respectively described inflight phase is carried out to motion simulation modular design, obtain respectively and each self-corresponding type of sports module of inflight phase described in each;
According to type of sports module described in each, generate the type of sports module library of described airbound target.
3. method according to claim 1, is characterized in that, describedly controls successively described airbound target and carries out corresponding action according to the kinematic parameter of type of sports module described in each, comprising:
Extract respectively in described type of sports module library the kinematic parameter of type of sports module described in each;
Control successively described airbound target and carry out corresponding action according to kinematic parameter described in each.
4. method according to claim 1, is characterized in that, the described airbound target of described control is carried out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module, comprising:
Extract the current state parameter of described airbound target;
The current initial parameter that the described current state parameter of take is described airbound target, controls described airbound target and carries out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.
5. method according to claim 1, is characterized in that, the action that the described airbound target of described foundation is carried out generates the flying scene model of described airbound target, comprising:
According to the annexation in turn between described type of sports module, the action that described airbound target is carried out according to the kinematic parameter of type of sports module described in each connects combination;
According to combining the continuous action obtaining, generate the flying scene model of described airbound target.
6. according to the method described in any one in claim 1～5, it is characterized in that, after the flying scene model of the described airbound target of described generation, described method also comprises:
According to the flying scene model of described airbound target, the situation that generates described airbound target shows data;
Described situation is shown to data show.
7. a control device, is characterized in that, comprising:
Cross-sectional data acquiring unit, for obtaining the default flight profile, mission profile data of airbound target;
Module library generation unit, for according to described flight profile, mission profile data, generates the type of sports module library of described airbound target; Wherein, described type of sports module library comprises a plurality of type of sports modules, is connected in turn, and has motion switching condition between adjacent two type of sports modules between described type of sports module;
Target control unit, carries out corresponding action for controlling successively described airbound target according to the kinematic parameter of type of sports module described in each; When current kinematic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module;
Model of place generation unit, for the action of carrying out according to described airbound target, generates the flying scene model of described airbound target.
8. device according to claim 7, is characterized in that, described module library generation unit comprises:
Data Analysis subelement, for resolving described flight profile, mission profile data, obtains a plurality of inflight phases of described airbound target, and described in each, inflight phase is corresponding with a type of sports respectively;
Modular design subelement, for respectively described inflight phase being carried out to motion simulation modular design, obtains respectively and each self-corresponding type of sports module of inflight phase described in each;
Module library generates subelement, for according to type of sports module described in each, generates the type of sports module library of described airbound target.
9. device according to claim 7, is characterized in that, described target control unit comprises:
The first parameter extraction subelement, for extracting respectively the kinematic parameter of described type of sports module library type of sports module described in each;
Action executing is controlled subelement, for controlling described flight module successively, according to the kinematic parameter of type of sports module described in each, carry out corresponding action, when current kinematic parameter that described airbound target performs an action meets the motion switching condition between its current type of sports module and next type of sports module, trigger the second parameter extraction subelement;
The second parameter extraction subelement, for extracting the current state parameter of described airbound target;
Switching controls subelement, for take the current initial parameter that described current state parameter is described airbound target, trigger described Motor execution and control subelement and control described airbound target and carry out corresponding action according to the kinematic parameter of next type of sports module of described current type of sports module.
10. device according to claim 7, is characterized in that, described model of place generation unit comprises:
Action connects combination subelement, and for the annexation in turn according between described type of sports module, the action that described airbound target is carried out according to the kinematic parameter of type of sports module described in each connects combination;
Model generation subelement, for the continuous action obtaining according to combination, generates the flying scene model of described airbound target.
11. according to the device described in claim 7～10 any one, it is characterized in that, also comprises:
Show data generating unit, for after described model of place generation unit generates the flying scene model of described airbound target, according to the flying scene model of described airbound target, the situation that generates described airbound target shows data;
Data display unit, for showing that by described situation data show.
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