CN106569415A - Underwater vehicle six degree of freedom trajectory three dimensional visual simulation method - Google Patents

Abstract

The present invention discloses an underwater vehicle six degree of freedom trajectory three dimensional visual simulation method which solves an underwater motion trajectory visualization problem of an underwater vehicle in a laboratory. The method comprises the steps of in a LabVIEW method, establishing a relative geographic position space coordinate system of the underwater vehicle underwater trajectory entry points; processing a three dimensional model of the underwater vehicle into the WRL format, and importing in the relative geographic position space coordinate system; establishing a scene display of the underwater vehicle and a clock, and displaying the relative geographic position space coordinate system, an underwater vehicle model and an underwater vehicle coordinate system in the scene display; according to the time information in the six degree of freedom test data and the clock, synchronously driving the three dimensional model of the underwater vehicle to obtain the speed during an underwater vehicle visual simulation process; by the translation setting and the rotation setting of a deformation palette in the LabVIEW method, obtaining the yaw superposition, the roll superposition and the pitching superposition of the underwater vehicle and displaying the six degree of freedom change of the underwater vehicle, thereby reducing the test cost and shortening a test cycle.

Description

Submarine navigation device six degree of freedom trajectory three-dimensional visualization simulation method

Technical field

The present invention relates to a kind of submarine navigation device three-dimensional Ballistic Simulation of Underwater method, more particularly to a kind of to reproduce in laboratory The emulation mode of the true navigation trajectory of submarine navigation device.

Background technology

Under water in ROV development process, needs carry out marine exposition under water, and the underwater trajectory of ROV is usually Obtained by in-site measurement, this is accomplished by installing underwater photographic system in specific waters, to the trajectory in ROV water and Course of action is observed, records and analyzes, to judge the performance of ROV and the reliability of action.This course of work is present Equipment investment is more, and risk is big and problem of the environmental condition restriction that is put to the test, tests from the principle prototype of ROV model, to last The mass-production stage of product, is required to repeatedly to enter in-site measurement work in water-filling, and testing cost is high, human and material resources and wealth The input of power is very big.

The content of the invention

The invention provides a kind of submarine navigation device six degree of freedom trajectory three-dimensional visualization simulation method, solves in experiment The visual difficult problem of submarine navigation device sub-aqua sport trajectory is simulated in room.

The present invention is to solve above technical problem by the following technical programs：

A kind of submarine navigation device six degree of freedom trajectory three-dimensional visualization simulation method based on LabVIEW, comprises the following steps：

The first step, in LabVIEW methods, set up the relative spaced geographic locations coordinate system of ROV water hammer wave place of entry；

Second step, the threedimensional model of ROV is processed into WRL forms, and is imported in relative spaced geographic locations coordinate system；

3rd step, set up on ROV model ROV coordinate system；

4th step, by the relative spaced geographic locations coordinate space angle of ROV (six-freedom degree altogether), temporal information test Data conversion arranges a space and divides in groups into TXT file formats, between every group of data, is then introduced into LabVIEW methods In；

5th step, the scene display and clock of setting up ROV, and relative spaced geographic locations are shown in scene display Coordinate, ROV model, ROV coordinate system；

6th step, establish space coordinates：X-coordinate, Y-coordinate, the display window of Z coordinate；

7th step, by the temporal information and clock in six degree of freedom test data, the synchronous threedimensional model for driving ROV is obtained The speed arrived during ROV visual simulating；

The information of the 8th step, the relative spaced geographic locations coordinate space angle of extraction ROV, passes to relative geographical space Coordinate；

9th step：" the arranging translation " and " arranging rotation " of plate is selected by deformation in LabVIEW methods, the driftage of ROV is obtained Superposition, roll superposition, pitching superposition, realize that the change of ROV six degree of freedom shows.

The three-dimensional visualization simulation method has abandoned traditional two-dimensional curve analysis method for interweaving in length and breadth, more vivo Testing crew is showed with three-dimensional animation, the more accurate image that navigation underwater to ROV and separation attitude show is forced Very, enable testing crew judge the performance of ROV exactly, be readily achieved to aircraft flight performance test task, The restriction of the specific bodies of water and equipment is overcome, experimentation cost is reduced, test number (TN) is reduced, shortens the test period.

Description of the drawings

Fig. 1 is based on the six degree of freedom trajectory data three-dimensional visual emulation mode main interface figure of LabVIEW.

Specific embodiment

Below in conjunction with the accompanying drawings the present invention is described in detail：

A kind of submarine navigation device six degree of freedom trajectory three-dimensional visualization simulation method based on LabVIEW, comprises the following steps：

The first step, in LabVIEW methods, set up the relative spaced geographic locations coordinate system of ROV water hammer wave place of entry；

Second step, the threedimensional model of ROV is processed into WRL forms, and is imported in relative spaced geographic locations coordinate system；

3rd step, set up on ROV model ROV coordinate system；

4th step, by the relative spaced geographic locations coordinate space angle of ROV (six-freedom degree altogether), temporal information test Data conversion arranges a space and divides in groups into TXT file formats, between every group of data, is then introduced into LabVIEW methods In；

5th step, the scene display and clock of setting up ROV, and relative spaced geographic locations are shown in scene display Coordinate, ROV model, ROV coordinate system；

6th step, establish space coordinates：X-coordinate, Y-coordinate, the display window of Z coordinate；

7th step, by the temporal information and clock in six degree of freedom test data, the synchronous threedimensional model for driving ROV is obtained The speed arrived during ROV visual simulating；

The information of the 8th step, the relative spaced geographic locations coordinate space angle of extraction ROV, passes to relative geographical space Coordinate；

9th step：" the arranging translation " and " arranging rotation " of plate is selected by deformation in LabVIEW methods, the driftage of ROV is obtained Superposition, roll superposition, pitching superposition, realize that the change of ROV six degree of freedom shows.

The six degree of freedom data of product will be gathered in process of the test, for driving threedimensional model, realize threedimensional model Pitching, the visualization of the three-dimensional motion such as driftage and roll, and the relative geographical coordinate of ROV is shown, can again in laboratory The emulation mode of the true navigation trajectory of existing submarine navigation device, is very easy to the data processing and test in scientific research personnel's later stage As a result analysis.Six degree of freedom test data drives threedimensional model：Threedimensional model driving is the core of whole program, by above Preparation after, to set up product coordinate system and relative geographical position coordinates system, so have relative ginseng when visualization shows According to and third dimension.Above operation is completed, scene display and clock synchronization need to be set up, such threedimensional model has display, while Threedimensional model is synchronously driven to define the speed in visualization process by the temporal information clock in six degree of freedom data, six certainly It is extracted by the coordinate information in degrees of data and passes to relatively geographical index module.

Claims (1)

1. a kind of submarine navigation device six degree of freedom trajectory three-dimensional visualization simulation method, comprises the following steps：

The first step, in LabVIEW methods, set up the relative spaced geographic locations coordinate system of ROV water hammer wave place of entry；

Second step, the threedimensional model of ROV is processed into WRL forms, and is imported in relative spaced geographic locations coordinate system；

3rd step, set up on ROV model ROV coordinate system；

It is 4th step, ROV is literary into TXT relative to spaced geographic locations coordinate space angle, temporal information test data conversion Part form, arranges a space and divides in groups, in being then introduced into LabVIEW methods between every group of data；

5th step, the scene display and clock of setting up ROV, and relative spaced geographic locations are shown in scene display Coordinate, ROV model, ROV coordinate system；

6th step, establish space coordinates：X-coordinate, Y-coordinate, the display window of Z coordinate；

7th step, by the temporal information and clock in six degree of freedom test data, the synchronous threedimensional model for driving ROV is obtained The speed arrived during ROV visual simulating；

The information of the 8th step, the relative spaced geographic locations coordinate space angle of extraction ROV, passes to relative geographical space Coordinate；

9th step：" the arranging translation " and " arranging rotation " of plate is selected by deformation in LabVIEW methods, the driftage of ROV is obtained Superposition, roll superposition, pitching superposition, realize that the change of ROV six degree of freedom shows.