CN105095586A - Method for multi-uniting real-time visual simulation based on satellite tool kit (STK) - Google Patents

Abstract

The invention belongs to the field of radar visual simulation and particularly relates to a method for multi-uniting real-time visual simulation based on a satellite tool kit (STK). According to the method for multi-uniting real-time visual simulation based on the STK, first a visual simulation module is separated from a radar simulation system, the system is divided into three parts which are responsible for target model simulation, radar system simulation and visual simulation respectively, the three modules are connected through an optical fiber; according to target information sent by a target model simulation machine, a radar simulation machine searches a target and tracks and calculates the position of the target, calculation results are sent to a visual simulation machine at intervals of a certain time, and the visual simulation machine displays simulating three-dimensional results according to the calculated target position. According to the method, the real-time performance of the STK visual simulation is guaranteed, and the visual simulation appears more real.

Description

A kind of multi-joint conjunction Real-Time Scene Simulation method based on STK

Technical field

The invention belongs to radar vision simulation field, particularly relate to a kind of multi-joint conjunction Real-Time Scene Simulation method based on STK.

Background technology

Vision simulation (VisualSimulation) is a kind of based on can the immersion interactive environment of computing information, specifically, adopt exactly with computer technology is that the modern high technology of core generates vision, hearing, touch true to nature and feels the virtual environment of particular range of integration, user carries out reciprocation, influences each other with the object in virtual environment by the equipment of necessity in a natural manner, thus produces " immersing " in the impression of equivalent true environment and experience.It is as one of the application in forward position the most in computer technology, and it has been widely used in virtual reality, drive simulating, scene reproduction, city planning and other application.

Satellite kit (SatelliteToolKit, STK) be the geometry engines software of a physically based deformation principle developed by U.S. AnalyticalGraphics (AGI) company, it can show accurately and analyze the task in land, ocean, sky and cosmic space in true or simulation time.2D and the 3D visualization technique of STK advanced person and analyze data output function, can help user to strengthen understanding and cognition to vision simulation situation.As a business analysis software, the leading position of STK is unquestionable at space industry, and it supports to comprise the overall process of space mission of design, test, transmitting, operation and task application.STK originally more is applied to satellite orbit analysis, and being now extended to the professional emulation platform analyzed and perform land, sea, air, sky, electromagnetism task gradually, is stock analysis and the visualization tool of a kind of advanced person, supports space flight, defence and information task.

But in the vision simulation of reality, we often do not need so much function, STK software itself is for just too too fat to move vision simulation, and function is too complicated, and operation is lost points loaded down with trivial details, uses and grasps difficulty.And STK software itself and other softwares to carry out data interaction unsatisfactory, also inconvenience carrys out the simultaneous display of control 2D/3D scene and current data in analogue system simultaneously.Adopt VisualStudio to develop MFC program, integrated STKX technology, just can effectively address this problem.

Real time operating system (RTOS) refers to when extraneous event or data produce, can accept and be processed with enough fast speed, the result of its process can be carried out again production control process or make quick response to disposal system within official hour, dispatch all available resources and complete real-time task, and control the operating system of the harmonious operation of all real-time tasks.Response and high reliability is in time provided to be its principal features.

RedHawkLinux system is the Linux real time operating system of parallel computer company of U.S. exploitation, and this system is mainly used in multi-processor environment, and can guarantee the reliability of application program under multiprocessing or multi-core environment.Control can be handed to high priority process by low priority process by RedHawk kernel.This ensures that there and wait for that the high priority process that external event occurs can be made an immediate response when event occurs, even if CPU is just occupied also unaffected.The current main support target of this operating system is US military, the Aegis level cruiser of USN counter-airraid, and anti-surface ship, what antisubmarine weapon system all adopted is this operating system.

Application number is 201410322798.1, denomination of invention is the patent of " many Real-time data drives object General Situation display system and method based on STK ", give STK software many Real-time data drives object Simulation Application scheme in the system of the empty world, breach the STK restriction that simulation object is few in Real Time Drive emulation, by the transmission allocation manager adopting the time division multiplex strategy outside completed needed for many STK simulation object to drive data, realize the display of real-time external data-driven and the control of multi-object in STK scene.But its shortcoming is not in conjunction with the geography information of simulating area, a complete real-time emulation system framework is not proposed yet.

Application number is 201410258901.0, denomination of invention is " a kind of method of the extraterrestrial target visibility analysis based on STK model ", application number is 201410423444.6, denomination of invention is " a kind of Space-based Space imaging simulation method and device " etc., is all to propose for the target such as satellite of space industry.The extraterrestrial targets such as satellite often have fixing orbit, once after being transmitted into planned orbit, its track generally can not change, even if change, track is also computable.And the flight path of the target such as fighter plane, guided missile has randomness, its destination number is also uncertain, needs to detect in real time it, follow the tracks of, simultaneously because the restriction of flying height, geographical environment also will be taken into account, and these all add difficulty and complicacy to vision simulation.

Summary of the invention

The invention provides a kind of multi-joint conjunction Real-Time Scene Simulation method based on STK, mainly for the emulation of the target such as fighter plane, guided missile.

Thinking of the present invention: first vision simulation module is separated from radar simulator system, be three parts by systems organization, be responsible for object module emulation, simulation of Radar System, vision simulation respectively, again by three module Fiber connection, then the target information that sends according to object module replicating machine of radar simulation machine, search target also follows the tracks of the position calculating target, result of calculation is often sent to vision simulation machine at regular intervals, vision simulation machine, according to the target location calculated, shows the three-dimensional result of emulation in real time.

Based on a multi-joint conjunction Real-Time Scene Simulation method of STK, comprise the steps:

S1, build object module replicating machine, set up corresponding target model module, adopt RedHawkLinux real time operating system, send target echo data every 10ms to simulation of Radar System machine;

S2, build simulation of Radar System machine, set up corresponding radar mockup module, described simulation of Radar System machine adopts RedHawkLinux real time operating system, sends a target position data set up corresponding vision simulation scene every 10ms to vision simulation machine;

S3, build vision simulation machine, set up corresponding simulating scenes module, a data receiver is detected every 1ms, whenever receiving the target data of simulation of Radar System machine transmission described in a S2, control STK responds once, described simulating scenes is landform two dimension, three-dimensional model, target three-dimensional;

S4, by simulating scenes module Fiber connection described in radar mockup module described in target model module, S2 described in S1 and S3, adopt internal memory reflection card exchange data;

S5, the simulated program run on simulation of Radar System machine described in object module replicating machine, S2 described in S1 and S3 vision simulation machine, vision simulation machine will show the track of target and the target following detected in real time.

Further, build vision simulation machine described in S3, set up corresponding simulating scenes module, concrete steps are as follows:

S31, utilize the method access Google Maps API of JQuery+PHP, capture the Raster Data Model of satellite map, the Raster Data Model grabbed is divided into 20 grades, comprises precision 71km ~ 0.27m;

The DEM terrain data of S32, acquisition simulating area, utilizes the satellite map captured to make terrain texture, terrain texture map is generated three-dimensional terrain model to relief block;

S33, setting up MFC engineering, in the Dialog of resource, adding GlobalControl and MapControl two ActiveX controls, for showing three-dimensional/two-dimentional real-time simulation scene and target respectively;

S34, newly-built thread receive the data that described in S2, simulation of Radar System machine sends, according to the content received, and Response to selection " interpolation fresh target " event or " moving target position " event.

The invention has the beneficial effects as follows:

The real-time calculating of RedHawkLinux is utilized to ensure that the real-time of emulation, real map terrain data and fighter plane target three-dimensional is used to allow vision simulation seem truer, adopt simulation of Radar System machine to drive the mode of vision simulation machine simultaneously, ensure that the real-time of STK vision simulation.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of the many combined simulation systems of the present invention.

Fig. 2 is vision simulation machine system construction drawing.

Fig. 3 is the texture topomap mapped.

Fig. 4 is vision simulation operational effect figure.

Embodiment

Below in conjunction with embodiment and accompanying drawing, describe technical scheme of the present invention in detail.

Below in conjunction with embodiment and accompanying drawing, describe technical scheme of the present invention in detail.

As shown in Figure 1, the many combined simulation systems as graph structure are built.

S1, build object module replicating machine, set up corresponding target model module;

The key component of object module is long-pending (RCS) model of target RCS, can be formulated as:

Target radar scattering body section amasss $\mathrm{\σ}=4\mathrm{\π}\underset{R\→\mathrm{\∞}}{\lim }{R}^2\frac{|E^s{|}^2}{|E^i{|}^2}=4\mathrm{\π}\underset{R\→\mathrm{\∞}}{\lim }{R}^2\frac{|H^s{|}^2}{|H^i{|}^2},$

Wherein, E ⁱrepresent the vector electric field intensity (V/m) of incident electromagnetic wave at target place, H ⁱrepresent the Vector Magnetic Field intensity (A/m) of incident electromagnetic wave at target place, E ^srepresent the vector electric field intensity (V/m) of target scattering ripple at observation station place, H ^srepresent the Vector Magnetic Field intensity (A/m) of target scattering ripple at observation station place, R is the distance between target and radar;

This target simulator machine adopts RedHawkLinux real time operating system, sends target echo data every 10ms to simulation of Radar System machine.

S2, build simulation of Radar System machine, set up corresponding radar mockup;

The key component of this simulation of Radar System is analogue echoes, mainly comprises point target echo, clutter and noise.

Target echo model is as follows:

In antenna array direction cosine coordinate system, point target can be adopted be formulated as at the n-th submatrix of radar, the echo model of a kth pulse:

Wherein, θ, be respectively position angle and the angle of pitch of target, P _tbe peak transmitted power, L is propagation and the system loss factor, G _t, be respectively power gain and the directional diagram of emitting antenna, G _r,n, be power gain and the directional diagram of the receiving antenna of the n-th way battle array.Φ _s,nbe the spatial phase shift of the n-th way battle array, Φ _t,ktime domain phase shift during echo secondary to kth.

Clutter Model is as follows:

The generation of Typical Clutter utilizes grid image method usually, according to radar resolution element size and EFFECTIVE RANGE, by sea (, empty) surface by distance, orientation to being divided into latticed clutter unit, each clutter unit is considered as a point scatterer.The echo of the kth of clutter unit in the n-th submatrix time sampling is adopted and is formulated:

Wherein, P _tpeak transmitted power, D _ufor ratio of compression, L _cfor the clutter dissipation factor of system, σ _cfor radar scattering body section amasss, R _lbe l cell distance, G _t, be respectively power gain and the directional diagram of emitting antenna, G _r,n, be power gain and the directional diagram of the receiving antenna of the n-th way battle array.Φ _s,nbe the spatial phase shift of the n-th way battle array, Φ _t,kfor the time domain phase shift of kth time echo. for meeting the multiple random series of clutter amplitude distributed model and Power Spectrum Model.

Noise model is as follows:

The noise of radar system comprises the noise of noise and the receiver entered from antenna itself.It is 0 that receiver noise model adopts one to obey average usually, and variance is normal distribution stochastic process simulate, its mathematical notation form is as follows:

n _r(t)＝n _R(t)-j*n _I(t)，

Wherein, n _r(t), n _i(t) for independently average be 0, variance is gaussian random process.

This simulation of Radar System machine adopts RedHawkLinux real time operating system, hardware adopts NVIDIAK20GPU, real-time calculating target information, carry out target detection, target following simultaneously, and target current location information is sent to vision simulation machine, send a target position data every 10ms to vision simulation machine.

S3, build vision simulation machine, set up corresponding vision simulation scene, comprise landform two dimension, three-dimensional model, target three-dimensional etc.;

This vision simulation machine adopts Windows7 operating system, sets up corresponding simulating scenes, often receives the target data that primary radar system replicating machine sends, and control STK responds once.Flow process is as shown in Figure 2, specific as follows:

S31, utilize the method access Google Maps API of JQuery+PHP, capture the Raster Data Model (tile model) of its satellite map, the grade of crawl, from 1 ~ 20, represents precision 71km ~ 0.27m respectively, specifically as shown in table 1.

Table 1 engineer's scale at different levels and spatial resolution example table

Rank

Actual range

Pixel

Map range

Image resolution ratio

Engineer's scale

Spatial resolution

1st grade

5000 kilometers

55

1.94 centimetre

72dpi

400000000: 1

143 kilometers

2nd grade

5000 kilometers

70

2.47 centimetre

72dpi

200000000: 1

71 kilometers

3rd level

2000 kilometers

55

1.94 centimetre

72dpi

100000000: 1

36 kilometers

4th grade

2000 kilometers

115

4.06 centimetre

72dpi

5000 ten thousand: 1

17 kilometers

5th grade

1000 kilometers

115

4.06 centimetre

72dpi

2.5 thousand ten thousand: 1

9 kilometers

6th grade

500 kilometers

115

4.06 centimetre

72dpi

1.2 thousand ten thousand: 1

4 kilometers

7th grade

200 kilometers

91

3.21 centimetre

72dpi

600 ten thousand: 1

2 kilometers

8th grade

100 kilometers

176

6.21 centimetre

72dpi

1600000: 1

568 meters

9th grade

50 kilometers

91

3.21 centimetre

72dpi

1550000: 1

549 meters

10th grade

20 kilometers

72

2.54 centimetre

72dpi

800000: 1

278 meters

11st grade

10 kilometers

72

2.54 centimetre

72dpi

400000: 1

139 meters

12nd grade

5 kilometers

72

2.54 centimetre

72dpi

200000: 1

69 meters

13rd grade

2 kilometers

57

2.01 centimetre

72dpi

100000: 1

35 meters

14th grade

2 kilometers

118

4.16 centimetre

72dpi

50000: 1

17 meters

15th grade

1 kilometer

118

4.16 centimetre

72dpi

2.5 ten thousand: 1

8 meters

16th grade

500 meters

118

4.16 centimetre

72dpi

1.2 ten thousand: 1

4 meters

17th grade

200 meters

93

3.28 centimetre

72dpi

2300：1

2.15 rice

18th grade

100 meters

93

3.28 centimetre

72dpi

3000:1

1.07 rice

19th grade

50 meters

93

3.28 centimetre

72dpi

1500:1

0.54 meter

20th grade

20 meters

74

2.61 centimetre

72dpi

800：1

0.27 meter

The DEM terrain data of S32, download institute simulating area, utilizes the satellite map captured to make terrain texture, according to geographical correlation data, by terrain texture map to relief block, final generation three-dimensional terrain model, as Fig. 3, also will choose the fighter plane target three-dimensional that can use simultaneously;

S33, set up MFC engineering, in the Dialog of resource, adding GlobalControl and MapControl two ActiveX controls, for showing three-dimensional/two-dimentional real-time simulation scene and target respectively, adding other control knobs simultaneously;

S34, respectively loading scenario configuration, terrain data, map maps, object module are in vision emulation system.Wherein, scene configuration comprises again scene initialization, scene start time, observer position, observer's behavior (fixed viewpoint fixed position, fixed viewpoint tracking target);

The data that S35, newly-built thread receiving radar system emulation machine send, according to the content received, the action of real-time response " interpolation fresh target " or " moving target position ";

S4, three module Fiber connection that S1, S2, S3 are built, reflective memory card is adopted to exchange data, the transmission of reflective memory interrupt request is by programmed control, namely after data are write reflective memory by transmitting terminal, preserve node to data and send interrupt request singal, send a RFM2GEVENTINFO data structure simultaneously, wherein contain the information such as extend information, interrupt type, wait time limit, node number and driving specific data;

S5, the simulated program run on three machines, vision simulation machine will show the track of target and the target following detected in real time.

Operational effect figure is as Fig. 4, and upper left window is 2D map, display radar and the position of target and the pursuit path of target; The form of lower left is the target fighter plane trace information followed the tracks of, comprise longitude, latitude, highly, speed, acceleration, the time; Top-right window is the change in target 3D model, Real-Time Monitoring targeted attitude and direction, and the model used in figure is B52 bomber; Lower right is global observing person view, can observe the spatial positional information of emulation.

Claims (2)

1., based on a multi-joint conjunction Real-Time Scene Simulation method of STK, it is characterized in that, comprise the following steps:

S1, build object module replicating machine, set up corresponding target model module, adopt RedHawkLinux real time operating system, send target echo data every 10ms to simulation of Radar System machine;

S2, build simulation of Radar System machine, set up corresponding radar mockup module, described simulation of Radar System machine adopts RedHawkLinux real time operating system, sends a target position data set up corresponding vision simulation scene every 10ms to vision simulation machine;

S3, build vision simulation machine, set up corresponding simulating scenes module, a data receiver is detected every 1ms, whenever receiving the target data of simulation of Radar System machine transmission described in a S2, control STK responds once, described simulating scenes is landform two dimension, three-dimensional model, target three-dimensional;

S4, by simulating scenes module Fiber connection described in radar mockup module described in target model module, S2 described in S1 and S3, adopt internal memory reflection card exchange data;

S5, the simulated program run on simulation of Radar System machine described in object module replicating machine, S2 described in S1 and S3 vision simulation machine, vision simulation machine will show the track of target and the target following detected in real time.

2. a kind of multi-joint conjunction Real-Time Scene Simulation method based on STK as claimed in claim 1, it is characterized in that: build vision simulation machine described in S3, set up corresponding simulating scenes module, concrete steps are as follows:

S31, utilize the method access Google Maps API of JQuery+PHP, capture the Raster Data Model of satellite map, the Raster Data Model grabbed is divided into 20 grades, comprises precision 71km ~ 0.27m;

The DEM terrain data of S32, acquisition simulating area, utilizes the satellite map captured to make terrain texture, terrain texture map is generated three-dimensional terrain model to relief block;

S33, setting up MFC engineering, in the Dialog of resource, adding GlobalControl and MapControl two ActiveX controls, for showing three-dimensional/two-dimentional real-time simulation scene and target respectively;

S34, newly-built thread receive the data that described in S2, simulation of Radar System machine sends, according to the content received, and Response to selection " interpolation fresh target " event or " moving target position " event.