CN104615010A - FlightGear and VC hybrid system developing method based on network communication - Google Patents
FlightGear and VC hybrid system developing method based on network communication Download PDFInfo
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Abstract
The invention relates to a developing method for a multi-airplane formation flight visual joint simulation system and aims to provide a hybrid and visual joint simulation system development method of Flightgear, VC and Matlab (Simulink) based on network communication. The FlightGear and VC hybrid system developing method realizes researching a series of algorithms of multi-airplane formation flight control, task co-allocation, airtight, and the like, and simulation and virtual reality demonstration, so that an effective verification platform for to-be-solved key technology research and actual baffle preview is provided for the multi-airplane formation flight cooperative control. The system adopts open source software FlightGear to realize virtual reality and scene demonstration, adopts a VC development system to realize formation management, data management, task management and communication software, adopts a Simulink operation airplane model and a control algorithm, which form an integer through Ethernet-based UDP communication exchange information.
Description
Technical field: the present invention relates to a kind of development approach of multiple aircraft formation flight simulation analogue system, refer to the development approach of the visual associating flight simulation of FlightGear and VC mixing multiple aircraft formation of communication Network Based especially, belong to technical field algorithm research, engineering verification and visualization simulation technology combined.
Background technology: had a lot of scientific research institution by FlightGear (simulated flight software) in the middle of flight simulation research project both at home and abroad at present.Such as British Wales university, in flight control system emulation, utilizes the emulation of FlightGear engine implementation visible environment; Flight management and uphole equipment company ARINC change the positional information part that FlightGear software sends NMEA form into GPS information, send to Flight Management Computer to test its Flight Management Computer by ARINC429 data layout; The researchist of the National University of Defense technology utilizes FlightGear as simplation visualizing engine, AeroSim module collection is used to set up emulation module, flying quality is transferred to the computing machine of any operation FlightGear in LAN (Local Area Network), carries out flight simulation Dynamic Announce; Beijing meteorological institute uses Matlab/Simulink emulation tool to set up trajectory/Attitude Simulation module, uses FlightGear to realize the three-dimensional visualization display of weather condition, flight attitude and geographical environment in flight simulation as visualization engine on this basis.
The visual display of FlightGear flight simulator is true to nature, the flight environment of vehicle such as weather, geography can be reflected truly, the kinetic model of its inside can obtain the parameter of aircraft by XML format configuration file, and can the running environment of configuration software, carries out real-time simulation.The present invention takes full advantage of the visible flight display that the powerful visual display of FlightGear and XML format configuration file realize multiple aircraft formation.
Summary of the invention: technical matters to be solved by this invention is to provide a kind of development approach of the visual associative simulation of FlightGear, VC and Simulink of communication Network Based, realize a series of emulation such as multiple aircraft formation flight control, task cooperation distribution, air battle demonstration, for multiple aircraft formation Collaborative Control gordian technique to be solved provides effective verification platform.
For achieving the above object, the technical solution used in the present invention is: FlightGear and the VC commingled system development approach of communication Network Based, the service system that realizes of the method adopts open source software FlightGear to realize virtual reality, scene presentation, adopt VC development system formation management, data management, task management and communication software, Simulink is adopted to run model aircraft and control algolithm, these three parts all pass through the UDP communication exchange information based on Ethernet, form whole.Entire system is primarily of formation aircraft terminal, large scene battle state display, integrated management terminal and FlightGear server and Ethernet switch composition.Formation aircraft terminal runs aircraft FlightGear, unit control module and aircraft Simulink digital model simultaneously.The mode that system adopts centralized management and decentralized coordinated control to combine, centralized management is implemented with integrated management terminal, and with unit control module on every frame formation aircraft computing machine for node realizes cooperation control, realize interconnecting of three kinds of xenogenesis environment by UDP message and message exchange.System supports the multimachine composite formation system development of any amount, arbitrarily aircraft, has both supported man-machine, unmanned plane, even the composite formation of land, marine carrier and associative simulation, and concrete steps are as follows:
Step (1): set up FlightGear server under a linux operating system, FlightGear basis of software increases configuration module, and the document setting up a series of XML format replaces certain existing aircraft configuration with this, shields its autopilot;
Step (2): design synthesis office terminal, unit control module on VC6.0 platform, implements to concentrate coordinated management with integrated management terminal and unit module;
Step (3): run model aircraft and control algolithm on Simulink software;
Step (4): every airplane runs model aircraft three the independently software module of FlightGear module, unit control module and Simulink by a high-performance computer;
Step (5): design and communication module on VC6.0 platform, use udp protocol communicates, the network service of comprehensive management module and unit control module, FlightGear module and unit control module is realized by calling Socket api function, realize the mutual of Simulink model aircraft service data and unit control module by the UDP signal procedure that S function is embedded, and give every airplane by integrated management terminal by Data dissemination;
Step (6): utilize FlightGear to present the operation attitude of aircraft and environment, relation with other aircraft of forming into columns with three-dimension virtual reality, visual means, with the display of large scene three-dimensional situation, realize series of algorithms research, emulation and the Virtual Reality Demonstrations such as multiple aircraft formation flight control, task cooperation distribution, air battle.
Described FlightGear server adopts (SuSE) Linux OS, module can process mass data, meet high processing rate and high reliability request, each control end is connected with server by stack high speed Ethernet exchange machine, and server performs data and stores, forwards, issues mission critical.Described FlightGear module is on original system basis, replacing certain existing aircraft configuration, shielding the mode of its autopilot, realizing quick, seamless transitions by increasing configuration module, the advantage such as greatly utilize the environment of the FlightGear that increases income, play up.Configuration module is by setting up the document of a series of XML format, for the data item needed adds corresponding label, and it is corresponding with the cooperation steering order collection in integrated management terminal, management information and control information data write in the inner corresponding data variable interface of FlightGear software module according to XML document by configuration module when the program is run, simultaneously also can by flying quality from FlightGear internal data transfer out.
System avoids the difficult problem that general employing FlightGear carries out secondary development, taken into account the present situation that dummy vehicle generally all adopts Simulink to research and develop simultaneously, adopt again most popular VC 6.0 development management and algorithm software, the perfection achieving engineering and algorithm research is merged or compatibility.
Described integrated management terminal, unit control module, udp protocol communication be complete design on VC6.0 platform all.Integrated management terminal realizes formation aircraft quantity control, formation management, algorithm management, data management and communication centralized management; Unit control module realizes the machine algorithm management, the machine attitude, weapon, threat, flight path, formation, data display and UDP communication; UDP communication adopts SOCKET, datagram mode, realizes towards disconnected high-frequency data communication.
Integrated management control end is designed to system initialization module, formation administration module, formation process control module and display module on VC6.0 platform, system initialization module mainly completes the initialization of whole system, Legacy Data last time is removed, ensures this formation flying simulator not by data influence last time; Formation administration module is divided into again and multiplely arranges block, comprises that region of war, airport is arranged, flight environment of vehicle is arranged, combat objective is arranged, formation aircraft is arranged, aeroplane performance is arranged, aircraft weapon is arranged, flight pattern is arranged, formation flight path is arranged, amendment of forming into columns is arranged and unit fault verification etc.; Formation process control module, mainly realizes formation takeoff and controls to this process management of landing, namely when take off, make a return voyage, landing etc.; Display module is divided into map denotation and data display, and map denotation is the flight path depicting whole formation according to the longitude and latitude of aircraft at two-dimensional map, the position of each airplane of display of data intuitive display, highly, speed, course etc.
Described communication module completes FlightGear module and unit control module, Simulink model aircraft and large scene three-dimensional situation and shows and the communicating of integrated management terminal, and realizes data interaction.The server that management information is transmitted through communication module by integrated management control end, management information is passed to aircraft control end by server, respective management information and control information are passed to corresponding FlightGear software module by communication module by aircraft control end, flying quality is passed to aircraft control end and integrated management control end by FlightGear software module simultaneously, carries out resolving and showing.
Communication adopts udp protocol, network service is realized by calling Socket api function, data type comprises meteorological management, time management, formation management, control information, fault and Threat Management and flying quality, and meteorological and time management realizes the setting of environmental information and the management of flight time in scene; Formation supervisory packet is arranged containing the management of aircraft quantity, type, performance, weapon in formation; Threat Management threatens for the radar, air defense position etc. arranged between movement area and arranges; Fault management is used for man-made fault and injects; Flying quality refers to that FlightGear flight simulator is by output interface, and send real time data to respective control module, flying quality is presented on interface by control module, resolves as corresponding control information simultaneously.Management information is transferred to each aircraft computer by the communication module of integrated management terminal, then through the unit control module of aircraft computer to Data Analysis, obtain respective management information, then be transferred to FlightGear module.
Namely the model of formation aircraft can adopt FlightGear to have kinetic model and autopilot, also can adopt the dynamics based on Simulink and autopilot model.
The existing aircraft of certain airplane FlightGear if form into columns, then system directly adopts this aircraft configuration, autopilot.The aircraft that certain airplane FlightGear does not have if form into columns, then system adopts its Simulink model realization associative simulation, certainly also supports Matlab model, or any Type model that other VC can directly call.
Described large scene three-dimensional situation display, by being presented on giant-screen as the split screen function of certain frame formation aircraft FlightGear simulation software by three-dimensional vision, forms large scene visual effect.
Compared with prior art, the present invention takes full advantage of powerful visual display and the XML format configuration file of FlightGear, and integrated management control terminal is devised on VC6.0 platform, unit control module, UDP communication etc., realize the management of multiple aircraft formation, arrange, the a series of Row control such as amendment and flight formation control, each several part is connected to form a large multiple aircraft formation flight Simulation System by ethernet server, and be presented in large what comes into a driver's window, make observer experience whole formation intuitively and realize mission planning, take off, cruise, complete and attack to the landing simulation and emulation that makes a return voyage.In addition, the present invention provides proof of algorithm platform in control module for research multiple aircraft formation controls scientific research personnel, and scientific research personnel can be made to be spent in by more energy in Flight Control Algorithm research.
The present invention innovates main at 2 points: one is, three kinds of development environments are responsible for intrinsic advantage content separately, and the construction cycle is short, effective; Two are, Simulink runs whole simulated flight device model and relevant controlling, formation, operation scheduling algorithm, and model debugging, the algorithm debugs are convenient, without secondary development problem.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention.
Fig. 2 is that integrated management control end of the present invention is to formation aircraft terminal transmission structured flowchart.
Fig. 3 is formation control system principle diagram.
Embodiment:
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention carry out clear, intactly describe, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Referring to Fig. 1, for implementing FlightGear and the VC commingled system development approach that the present invention is based on network service, FlightGear and the VC commingled system of this communication Network Based is divided into integrated management control terminal, formation aircraft terminal, FlightGear server, large what comes into a driver's window and communication module substantially.Formation aircraft terminal runs aircraft FlighGear, unit control module and aircraft Simulink digital model simultaneously.
FlightGear server module adopts (SuSE) Linux OS, module can process mass data, meet high processing rate and high reliability request, each control end is connected with server by stack high speed Ethernet exchange machine, and server performs the mission criticals such as data storage, forwarding, issue.
Three-dimensional situation of battlefield (comprising environment, landform, formation aircraft, the Campaign Process etc.) display of large what comes into a driver's window primary responsibility.By the split screen function of the FlightGear simulation software as lead aircraft, three-dimensional vision is presented on giant-screen, forms large scene visual effect.
Referring to Fig. 2, the effect of whole system control end can be found out, also can find out the trend of whole system data simultaneously, management information is transferred to server through communication module by integrated management control end, management information is passed to formation aircraft control end by server, respective management information and control information are passed to corresponding FlightGear software module by communication module by formation aircraft control end, flying quality is passed to formation aircraft control end and integrated management control end by FlightGear software module simultaneously, carries out resolving and showing.
Finally, be described communication module, communication module mainly completes between FlightGear software module and management control module, each control end and the communication of the inner submodule of each control module, realizes data interaction.Communication adopts udp protocol, network service is realized by calling Socket api function, data type comprises management information, control information and flying quality, referring to Fig. 3, the management that management information comprises aircraft quantity, performance, weapon, fault etc. in the setting of flight environment of vehicle system and multiple aircraft formation is arranged, management information is transferred to each aircraft control end by the communication module of integrated management terminal, then through aircraft control end to Data Analysis, obtain respective management information, then be transferred to FlightGear software module; Control information is to control the autopilot that in formation, each frame FlightGear aircraft carries, when formation control, carry out pressure decoupling zero, make to there is not coupled relation between speed, course, height, at respective aircraft control end by speed, course, height through the speed of the FlightGear flight simulator autopilot of communicator module transfer, course, height receiving port; Flying quality refers to that FlightGear flight simulator passes through output interface, send real time data to respective control module, flying quality is presented on interface by control module, and stores, the formation control system of control module is resolved as corresponding control information simultaneously, again passes to autopilot.
Claims (9)
1. FlightGear and the VC commingled system development approach of communication Network Based, it is characterized in that: the system that realizes of the method adopts open source software FlightGear to realize virtual reality, scene presentation, adopt VC development system to form into columns to manage, data management, task management and communication software, Simulink is adopted to run model aircraft and control algolithm, these three parts all pass through the UDP communication exchange information based on Ethernet, form whole, entire system is by formation aircraft terminal, large scene battle state display, integrated management terminal and FlightGear server and Ethernet switch composition, formation aircraft terminal runs aircraft FlightGear simultaneously, unit control module and aircraft Simulink digital model, the mode that system adopts centralized management and decentralized coordinated control to combine, centralized management is implemented with integrated management terminal, and with unit control module on every frame formation aircraft computing machine for node realizes cooperation control, interconnecting of three kinds of xenogenesis environment is realized by UDP message and message exchange, system supports any amount, the multimachine composite formation system development of any aircraft, both supported man-machine, unmanned plane, even land, the composite formation of marine carrier and associative simulation, concrete steps are as follows:
Step (1): set up FlightGear server under a linux operating system, FlightGear basis of software increases configuration module, and the document setting up a series of XML format replaces certain existing aircraft configuration with this, shields its autopilot;
Step (2): design synthesis office terminal, unit control module on VC6.0 platform, implements to concentrate coordinated management with integrated management terminal and unit module;
Step (3): run model aircraft and control algolithm on Simulink software;
Step (4): every airplane runs model aircraft three the independently software module of FlightGear module, unit control module and Simulink by a high-performance computer;
Step (5): design communication module on VC6.0 platform, use udp protocol communicates, the network service of comprehensive management module and unit control module, FlightGear module and unit control module is realized by calling Socket api function, realize the mutual of Simulink model aircraft service data and unit control module by the UDP signal procedure that S function is embedded, and give every airplane by integrated management terminal by Data dissemination;
Step (6): utilize FlightGear to present the operation attitude of aircraft and environment, relation with other aircraft of forming into columns with three-dimension virtual reality, visual means, with the display of large scene three-dimensional situation, realize series of algorithms research, emulation and the Virtual Reality Demonstrations such as multiple aircraft formation flight control, task cooperation distribution, air battle.
2. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 1, it is characterized in that: described FlightGear server adopts (SuSE) Linux OS, each control end is connected with server by stack high speed Ethernet exchange machine, and server performs data and stores, forwards, issues mission critical.
3. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 1, it is characterized in that: described FlightGear module is on original system basis, increase configuration module and replace certain existing aircraft configuration, shield its autopilot, configuration module is by setting up the document of a series of XML format, for the data item needed adds corresponding label, and it is corresponding with the cooperation steering order collection in integrated management terminal, management information and control information data write in the inner corresponding data variable interface of FlightGear software module according to XML document by configuration module when the program is run, simultaneously also can by flying quality from FlightGear internal data transfer out.
4. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 1, it is characterized in that: described integrated management terminal, unit control module, udp protocol communication be complete design on VC6.0 platform all, integrated management terminal realizes formation aircraft quantity control, formation management, algorithm management, data management and communication centralized management; Unit control module realizes the machine algorithm management, the machine attitude, weapon, threat, flight path, formation, data display and UDP communication; UDP communication adopts SOCKET, datagram mode, realizes towards disconnected high-frequency data communication.
5. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 4, it is characterized in that: integrated management control end is designed to system initialization module, formation administration module, formation process control module and display module on VC6.0 platform, system initialization module completes the initialization of whole system, Legacy Data last time is removed, ensures this formation flying simulator not by data influence last time; Formation administration module is divided into again and multiplely arranges block, comprises that region of war, airport is arranged, flight environment of vehicle is arranged, combat objective is arranged, formation aircraft is arranged, aeroplane performance is arranged, aircraft weapon is arranged, flight pattern is arranged, formation flight path is arranged, amendment of forming into columns is arranged and unit fault verification; Formation process control module, realizes formation takeoff and controls to this process management of landing, namely when take off, make a return voyage, land; Display module is divided into map denotation and data display, and map denotation is the flight path depicting whole formation according to the longitude and latitude of aircraft at two-dimensional map, the position of each airplane of display of data intuitive display, highly, speed, course.
6. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 1, it is characterized in that: described communication module completes FlightGear module and unit control module, Simulink model aircraft and large scene three-dimensional situation and shows and the communicating of integrated management terminal, and realizes data interaction; The server that management information is transmitted through communication module by integrated management control end, management information is passed to aircraft control end by server, respective management information and control information are passed to corresponding FlightGear software module by communication module by aircraft control end, flying quality is passed to aircraft control end and integrated management control end by FlightGear software module simultaneously, carries out resolving and showing.
7. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 6, it is characterized in that: communication adopts udp protocol, network service is realized by calling Socket api function, data type comprises meteorological management, time management, formation management, control information, fault and Threat Management and flying quality, and meteorological and time management realizes the setting of environmental information and the management of flight time in scene; Formation supervisory packet is arranged containing the management of aircraft quantity, type, performance, weapon in formation; Threat Management threatens for the radar, air defense position etc. arranged between movement area and arranges; Fault management is used for man-made fault and injects; Flying quality refers to that FlightGear flight simulator passes through output interface, send real time data to respective control module, flying quality is presented on interface by control module, resolve as corresponding control information simultaneously, management information is transferred to each aircraft computer by the communication module of integrated management terminal, then through the unit control module of aircraft computer to Data Analysis, obtain respective management information, then be transferred to FlightGear module.
8. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 1, is characterized in that: the model of formation aircraft adopts FlightGear have kinetic model and autopilot or adopt the dynamics based on Simulink and autopilot model; The existing aircraft of certain airplane FlightGear if form into columns, then system directly adopts this aircraft configuration, autopilot, the aircraft that certain airplane FlightGear does not have if form into columns, then system adopts its Simulink model realization associative simulation, certainly also Matlab model is supported, or any Type model that other VC can directly call.
9. FlightGear and the VC commingled system development approach of communication Network Based as claimed in claim 1, it is characterized in that: the large scene three-dimensional situation display described in step (6), by being presented on giant-screen as the split screen function of certain frame formation aircraft FlightGear simulation software by three-dimensional vision, form large scene visual effect.
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