CN108109202B - Dynamic positioning ship three-dimensional visual simulation system and method based on GPU - Google Patents
Dynamic positioning ship three-dimensional visual simulation system and method based on GPU Download PDFInfo
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Abstract
The invention relates to a dynamic positioning ship three-dimensional visual simulation system and method based on a GPU. Adopting 3D MAX to establish a three-dimensional entity model of a dynamic positioning ship driving environment, such as: dynamic positioning vessels, ocean platforms, lighthouses, other vessels, and the like; establishing a model of wind, wave, stream and ocean scenes such as sunny days, rainy days, cloudy days and the like by using a Multigen creator; simulation rendering is carried out through a three-dimensional simulation engine Vega Prime, rendering acceleration processing is carried out on a GPU, and scene driving is achieved through C # language; and finally, the simulation of the real scene required in the ship dynamic positioning simulator scene simulation system is realized.
Description
Technical Field
The invention belongs to the field of intersection of ship automation and three-dimensional visual simulation, and particularly relates to a dynamic positioning ship three-dimensional visual simulation system and method based on a GPU.
Background
The traditional anchoring and Positioning mode can not meet the requirements of modern marine equipment operation, and a Dynamic Positioning System (DPS) is produced at the discretion of the operator, has the advantages of strong adaptability, no limitation of water depth, accurate Positioning, convenient operation and the like, and is widely applied to various marine engineering equipment such as marine semi-submersible vessel drilling platforms, marine operation ships, underwater vehicles and the like.
With the proliferation of the number of dynamic positioning vessels, a professionally trained dynamic positioning operator is essential. The training of a qualified dynamic positioning operator needs perfect training equipment, and the dynamic positioning simulator is the main equipment for training the dynamic positioning operator. In a set of ship dynamic positioning simulator systems, three-dimensional visual display occupies an important position.
The final effect of the three-dimensional visual display determines the immersion, the interactivity and the imagination of the dynamic positioning simulator, and influences the effect of dynamic positioning training. The three-dimensional visual simulation technology is based on numerical simulation, combines various high technologies such as a computer technology, a graphic processing technology, an optical technology, a control technology and the like, carries out three-dimensional modeling and real-time driving on a real world or a virtual world imagined by human beings, and displays the three-dimensional visual simulation technology through a display or a three-dimensional projection technology.
The trainees can repeatedly practice on the premise of not operating real ship equipment through the dynamic positioning simulator, and can simulate various functions of critical operation, troubleshooting and the like which are not allowed or occur under extreme conditions in a real ship, so that the related operation level and the on-site strain capacity of the trainees are improved. Therefore, a three-dimensional model of the simulation object is constructed and a real environment is reproduced, a very vivid simulation effect is achieved, and the method has important significance for the ship dynamic positioning simulator. Therefore, the design of a reasonable and efficient three-dimensional visual simulation method of the ship dynamic positioning simulator has important significance.
In the existing three-dimensional visual visualization method, patent CN 104090497B is used for a dynamic positioning system simulation system in the field of ocean engineering and a working method thereof, and the simulation system includes a virtual simulation platform, a display and control console, a digital simulation platform and a digital projection device. The virtual simulation platform runs a three-dimensional marine virtual simulation environment scene through Vega program design, wherein the simulation environment scene utilizes Creator software to establish a three-dimensional virtual model, and three-dimensional animation and a duration curve form are adopted to complete the visualization of a three-dimensional visual scene.
In the prior art, only single Creator three-dimensional modeling software is adopted for establishing a model, the modeling effect has certain limitation, Vega is adopted for simulating a three-dimensional ocean scene, the execution efficiency is low, the function is not strong enough, and the interface and platform compatibility needs to be improved. The simulation by the method is not considered integrally, so that the multi-scene task simulation of a complex system is difficult to reflect physically, the visual sense of reality cannot be realized, the sense of reality and the real-time property of the virtual environment can be influenced, and the training effect of the ship dynamic positioning simulator is greatly reduced.
Disclosure of Invention
The invention aims to provide a dynamic positioning ship three-dimensional visual simulation system and method based on a GPU (graphics processing unit), which can make up the defects of the existing three-dimensional visual simulation method, realize the establishment of a highly vivid and more real-time scene environment based on physical behavior simulation and enable the visual simulation to be more interactive.
In order to achieve the purpose, the technical scheme of the invention is as follows: a dynamic positioning ship three-dimensional visual simulation system based on a GPU comprises a database module, an ocean platform and ship modeling module, a dynamic positioning sensor information processing module, a motion control module, an entity and ocean scene simulation module, a GPU accelerated rendering module, a C # background calling and driving module and a dynamic positioning effect display module;
the database module is used for acquiring data of a real object including appearance and geometric shape through related design drawings and data measured by the real object, and converting, sorting and storing acquired data information;
the ocean platform and ship modeling module adopts 3D MAX software to construct a diversified reference object model required by the environment comprising the ship, the target ship, the ocean platform and the lighthouse according to the requirement of dynamically positioning the running environment of the ship and a three-dimensional modeling method; then, a three-dimensional modeling software Multigen creator is adopted to construct an ocean scene model comprising a near coast, wind, waves, currents and sunny, rainy and cloudy days;
the dynamic positioning sensor processing information module is used for developing a simulation cycle interface to obtain three states according to an interface state in an input C # background calling and driving module and a motion state in a motion control module: -1, 0, 1, wherein-1 means that the interface is not connected, 0 means that it has ended, 1 means that the emulation interface is normal and running;
the motion control module is used for responding to information corresponding to the information processing module of the dynamic positioning sensor, and generating a motion control instruction of the entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect display module by analyzing a result data set of the C # background calling and driving module; meanwhile, the module gives three return values of-1, 0 and 1 according to the motion states of the scene objects fed back by the entity and ocean scene simulation module and the dynamic positioning effect display module, wherein-1 represents that the motion is finished and can be recycled, 0 represents that the motion object is not activated, and 1 represents that the object is activated and is moving;
the entity and ocean scene simulation module establishes a scene tree for the imported geometric file of the construction model according to the motion special effect of the object output by the receiving motion control module, the motion of the model needs to define a constraint relation and a motion path, and different nodes of the model are hung on different nodes on one scene tree; the moving part and the non-moving part are respectively hung on different nodes of a scene tree, and are uniformly rendered on a Vega Prime simulation platform according to the arrangement and coordination of the models, so that a complex scene environment graph is finally formed and output to a GPU accelerated rendering module;
the GPU accelerated rendering module receives the geometric scene graph obtained after the processing of the entity and ocean scene simulation module, the geometric scene graph is further processed through the scenes and the special effect commands, the work load of a CPU is reduced through the function of the GPU, and the scene environment graph is accelerated through the GPU accelerated rendering module, so that the rendering simulation speed is greatly accelerated, the display continuity of a scene model is increased, and the real-time performance and the sense of reality of model motion and scene display are realized;
the C # background calling and driving module comprises a C # multi-scene simulation interface state monitoring module and a C # multi-scene simulation interface information processing module, and specifically, three states are obtained by monitoring the operation process of the C # background calling and driving module interface and developing a simulation cycle interface: -1, 0, 1, wherein-1 means that the interface is not connected, 0 means that it has ended, 1 means that the emulation interface is normal and running; then, processing the result information output by the C # through an analytic method;
the dynamic positioning effect display module is used for displaying scene simulation, the scene simulation rendering module is driven through the processing process of C # multi-scene simulation interface information of the C # background calling and driving module, calling and controlling of a scene environment are achieved, and the final effect is displayed through the dynamic positioning effect display module.
In an embodiment of the present invention, the dynamic positioning sensor information processing module invokes and drives an interface state in the module and a motion state in the motion control module according to an input C # background to implement two functions: firstly, in the aspect of information receiving, when the state of the C # interface is monitored to be 0, other object models in a result file are added into a task; when the monitored motion state in the motion control module is 0, recycling the object model; secondly, the information transmission aspect refers to scheduling and controlling information generated by a C # background calling and driving module and a motion control module, and is used for ensuring the real-time performance of the simulation effect, the visual simulation tasks are executed strictly according to the sequence, the main realization process is that the information receiving condition, the motion state of a visual object, the life cycle of the motion object and the like are monitored firstly, whether data required by the motion object in the three-dimensional visual is matched according to the received information, and if the data is required by the motion object in the three-dimensional visual is output to the visual object motion control module; if not, inquiring new received information, and circulating until the motion control module gives a state of 0, and recycling the object.
The invention also provides a dynamic positioning ship three-dimensional visual simulation method based on the GPU, which comprises the following steps,
step S1, establishing a dynamic positioning ship, an ocean platform and an ocean scene model:
step S11, firstly, ship entity appearance and geometric shape data are obtained through ship and ocean scene design drawings and real object measurement data, then, photos are shot on the spot and relevant pictures in a common material picture library are processed to obtain ship and ocean environment texture data, redundant and incorrect data information is removed, data conversion and cutting are carried out, then, the texture pictures are converted into RGBT picture formats supported by Multigen creators, and finally, collected image data are classified, sorted and stored.
Step S12, establishing a physical model including a dynamic positioning ship, other ships, an ocean platform and a lighthouse by using 3D MAX software, wherein the physical model includes a MAX file;
s13, establishing a marine scene model, repeating the steps S11 and S12 in a Multigen Creator environment, and completing a marine situation model comprising a storm flow, a sunny day, a cloudy day and a rainy day and a marine environment model near the coast, wherein the marine environment model comprises flt files;
step S14, carrying out structural adjustment on the three-dimensional solid model and the ocean scene model established in the steps, optimizing the visual simulation output sequence of the model, and improving the quality of visual pictures; extracting real data stored in the electronic chart, and sorting the obtained marine geographic element data to build a marine geographic database so as to call the marine geographic database when needed;
s15, obtaining a three-dimensional entity model, a marine scene model and a marine geographic element database through the steps to jointly form a required three-dimensional visual database;
step S2, dynamic positioning ship, ocean platform and ocean scene model information processing and configuration:
step S21, the three-dimensional entity model and the ocean scene model are transmitted to a motion control module, and in the period time of one subframe, the dynamic positioning sensor processing information module monitors the motion state and the life cycle of the visual object;
step S22, the ship dynamic positioning sensor processing information module matches and checks whether the information has the data needed by the object movement in the three-dimensional visual simulation according to the received information, if so, the result information is analyzed, and the result information is transmitted to the movement control module; if not, inquiring the updated receiving information, and circulating until the motion control module gives a state of 0, and recycling the object;
step S23, the motion control module generates a motion control instruction of the three-dimensional entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect diagram display module by analyzing the result information of the C # background calling and driving interface module; and simultaneously, the module gives three return values of-1, 0 and 1 according to the motion state of the scene object. -1 indicates that the motion has ended, which can be recycled, 0 indicates that the moving object is not active, 1 indicates that the object has been active and is moving;
step S24, analyzing the information of the ship dynamic positioning sensor processing information module, if finding that the related entity model does not meet the design requirement, returning to the ocean platform and ship modeling module, and carrying out design modeling on the ocean platform and ship modeling module again until the design requirement is met;
s25, initializing and configuring a relevant three-dimensional entity model and a marine scene model through LynX Prime graphical interface design software in Vega Prime, wherein the key for setting model initialization is the positioning of the relevant model in a scene, performing structural processing on the model when three-dimensional entity modeling is performed to obtain texture coordinates and geometric coordinates, and setting specific positioning for the real longitude and latitude of the marine scene in an electronic chart;
s26, setting the motion effect of the entity, and constructing a relevant special effect model on the premise of not reducing the real-time performance of the visual simulation in order to generate an environment with stronger reality sense;
step S3, a realization process of scene simulation rendering of the ship dynamic positioning simulator:
step S31, loading the max file and the ocean scene model including the storm flow, the sunny day, the cloudy day and the rainy day generated in the step S1 into simulation software Vega Prime, and enabling the ocean scene model including the storm flow, the sunny day, the cloudy day and the rainy day to be part of visual simulation real-time application;
step S32, after loading a three-dimensional entity model including a ship, a max file and an ocean scene model including storm flow, sunny days, cloudy days and rainy days, a flt file into simulation software Vega Prime, finishing initialization setting of a definition window, an observer, a motion model, a scene motion body, an environment and a special effect thereof in an ACF in an application interface LynX, configuring an environment required by real-time simulation, compiling and saving the ACF file;
step S33, the simulation time of the model and the moving object in the scene is analyzed, if the simulation time exceeds the preset simulation time or the real-time requirement is not met, the simulation time returns to the GPU graphic processing accelerated rendering module to perform accelerated rendering until the requirements are met;
step S4, driving of the scene simulation of the ship dynamic positioning simulator and presentation of the final effect:
s41, receiving the simulation rendering three-dimensional entity and the scene model obtained in the third step, classifying the three-dimensional entity and the scene model, and arranging relevant interfaces of a Vega Prime simulation platform so as to be matched with a C # driving interface;
and step S42, writing a related simulation program, calling an API function initialization system and a module class of Vega Prime by using a C # in Visual Studio 2014.NET, and calling a frame loop function drawing entity and a scene loop so as to realize the Visual real-time simulation application program.
And step S43, performing relevant operation by using the formed visual simulation application program according to the requirement to obtain a real and vivid scene effect, and then conveying the scene effect to the dynamic positioning effect display module to display the final effect on the display equipment.
In an embodiment of the present invention, the specific implementation process of step S12 is as follows: firstly, respectively establishing polygons of a ship, an ocean platform and a lighthouse in a 3D MAX environment, dividing an entity model into smaller units by adopting a unit division method, and finally displaying the basic structure of each entity model; and then selecting the real image collected in the step S11 as a texture, and finally constructing a three-dimensional entity model max file by defining, controlling and explaining a coordinate mode and giving a geometric coordinate and a texture coordinate to the texture.
Compared with the prior art, the invention has the following beneficial effects: the method can make up the defects of the existing three-dimensional visual simulation method, carries out three-dimensional solid model modeling by combining the 3D MAX and the Multigen creator, adopts a visual simulation engine Vega Prime with stronger function to render, combines the GPU graph acceleration processing function, and is driven by a program language C # with stronger expansibility and object orientation, so as to establish a highly vivid and more real-time scene environment based on physical behavior simulation. The combination of the three-dimensional modeling software 3D MAX and the Multigen creator and the scene simulation engine Vega Prime are used for rendering, so that objects in the scene are more realistic and immersive. Due to the expansibility of C #, the visual simulation of the method also has expansibility, and simultaneously, different objects in a visual system can be driven to perform concurrent motion according to different physical laws, so that the visual simulation has better interactivity. Meanwhile, the invention provides a GPU graph acceleration processing method, so that three-dimensional visual simulation fusing different scenes meets the requirement of real-time performance.
Drawings
FIG. 1 is a block diagram of a three-dimensional view simulation method of a ship dynamic positioning simulator based on a GPU.
FIG. 2 is a work flow diagram of a three-dimensional view simulation method of a ship dynamic positioning simulator based on a GPU.
FIG. 3 is a physical structure diagram of a three-dimensional view simulation method of a ship dynamic positioning simulator based on a GPU.
Detailed Description
The technical scheme of the invention is specifically explained below with reference to the accompanying drawings.
The invention discloses a dynamic positioning ship three-dimensional visual simulation system based on a GPU (graphics processing unit), which comprises a database module, an ocean platform and ship modeling module, a dynamic positioning sensor information processing module, a motion control module, an entity and ocean scene simulation module, a GPU accelerated rendering module, a C # background calling and driving module and a dynamic positioning effect display module, wherein the dynamic positioning sensor information processing module is used for processing information;
the database module is used for acquiring data of a real object including appearance and geometric shape through related design drawings and data measured by the real object, and converting, sorting and storing acquired data information;
the ocean platform and ship modeling module adopts 3D MAX software to construct a diversified reference object model required by the environment comprising the ship, the target ship, the ocean platform and the lighthouse according to the requirement of dynamically positioning the running environment of the ship and a three-dimensional modeling method; then, a three-dimensional modeling software Multigen creator is adopted to construct an ocean scene model comprising a near coast, wind, waves, currents and sunny, rainy and cloudy days;
the dynamic positioning sensor processing information module is used for developing a simulation cycle interface to obtain three states according to an interface state in an input C # background calling and driving module and a motion state in a motion control module: -1, 0, 1, wherein-1 means that the interface is not connected, 0 means that it has ended, 1 means that the emulation interface is normal and running; the information receiving aspect refers to adding other object models in the result file to the task when the state of the C # interface is monitored to be 0; when the monitored motion state in the motion control module is 0, recycling the object model; the information transmission aspect refers to scheduling and controlling information generated by the C # background calling and driving module and the motion control module, and is used for ensuring the real-time performance of the simulation effect, the visual simulation tasks are executed strictly according to the sequence, the main realization process is that the information receiving condition, the motion state of a visual object, the life cycle of the moving object and the like are monitored firstly, whether data required by the moving object in the three-dimensional visual is matched according to the received information, and if the data is required, the analyzed result data is output to the visual object motion control module; if not, inquiring new received information, and circulating until the motion control module gives a state of 0, and recycling the object;
the motion control module is used for responding to information corresponding to the information processing module of the dynamic positioning sensor, and generating a motion control instruction of the entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect display module by analyzing a result data set of the C # background calling and driving module; meanwhile, the module gives three return values of-1, 0 and 1 according to the motion states of the scene objects fed back by the entity and ocean scene simulation module and the dynamic positioning effect display module, wherein-1 represents that the motion is finished and can be recycled, 0 represents that the motion object is not activated, and 1 represents that the object is activated and is moving;
the entity and ocean scene simulation module establishes a scene tree for the imported geometric file of the construction model according to the motion special effect of the object output by the receiving motion control module, the motion of the model needs to define a constraint relation and a motion path, and different nodes of the model are hung on different nodes on one scene tree; the moving part and the non-moving part are respectively hung on different nodes of a scene tree, and are uniformly rendered on a Vega Prime simulation platform according to the arrangement and coordination of the models, so that a complex scene environment graph is finally formed and output to a GPU accelerated rendering module;
the GPU accelerated rendering module receives the geometric scene graph obtained after the processing of the entity and ocean scene simulation module, the geometric scene graph is further processed through the scenes and the special effect commands, the work load of a CPU is reduced through the function of the GPU, and the scene environment graph is accelerated through the GPU accelerated rendering module, so that the rendering simulation speed is greatly accelerated, the display continuity of a scene model is increased, and the real-time performance and the sense of reality of model motion and scene display are realized;
the C # background calling and driving module comprises a C # multi-scene simulation interface state monitoring module and a C # multi-scene simulation interface information processing module, and specifically, three states are obtained by monitoring the operation process of the C # background calling and driving module interface and developing a simulation cycle interface: -1, 0, 1, wherein-1 means that the interface is not connected, 0 means that it has ended, 1 means that the emulation interface is normal and running; then, processing the result information output by the C # through an analytic method;
the dynamic positioning effect display module is used for displaying scene simulation, the scene simulation rendering module is driven through the processing process of C # multi-scene simulation interface information of the C # background calling and driving module, calling and controlling of a scene environment are achieved, and the final effect is displayed through the dynamic positioning effect display module.
The invention also provides a dynamic positioning ship three-dimensional visual simulation method based on the GPU, which comprises the following steps,
step S1, establishing a dynamic positioning ship, an ocean platform and an ocean scene model:
step S11, firstly, ship entity appearance and geometric shape data are obtained through ship and ocean scene design drawings and real object measurement data, then, photos are shot on the spot and relevant pictures in a common material picture library are processed to obtain ship and ocean environment texture data, redundant and incorrect data information is removed, data conversion and cutting are carried out, then, the texture pictures are converted into RGBT picture formats supported by Multigen creators, and finally, collected image data are classified, sorted and stored.
Step S12, establishing an entity model including a dynamic positioning ship, other ships, an ocean platform and a lighthouse by using 3D MAX software, wherein a MAX file: firstly, respectively establishing polygons of a ship, an ocean platform and a lighthouse in a 3D MAX environment, dividing an entity model into smaller units by adopting a unit division method, and finally displaying the basic structure of each entity model; then selecting the real image collected in the step S11 as a texture, and finally constructing a three-dimensional entity model, namely a max file by defining, controlling and explaining a coordinate mode of the texture and giving a geometric coordinate and a texture coordinate;
s13, establishing a marine scene model, repeating the steps S11 and S12 in a Multigen Creator environment, and completing a marine situation model comprising a storm flow, a sunny day, a cloudy day and a rainy day and a marine environment model near the coast, wherein the marine environment model comprises flt files;
step S14, carrying out structural adjustment on the three-dimensional solid model and the ocean scene model established in the steps, optimizing the visual simulation output sequence of the model, and improving the quality of visual pictures; extracting real data stored in the electronic chart, and sorting the obtained marine geographic element data to build a marine geographic database so as to call the marine geographic database when needed;
s15, obtaining a three-dimensional entity model, a marine scene model and a marine geographic element database through the steps to jointly form a required three-dimensional visual database;
step S2, dynamic positioning ship, ocean platform and ocean scene model information processing and configuration:
step S21, the three-dimensional entity model and the ocean scene model are transmitted to a motion control module, and in the period time of one subframe, the dynamic positioning sensor processing information module monitors the motion state and the life cycle of the visual object;
step S22, the ship dynamic positioning sensor processing information module matches and checks whether the information has the data needed by the object movement in the three-dimensional visual simulation according to the received information, if so, the result information is analyzed, and the result information is transmitted to the movement control module; if not, inquiring the updated receiving information, and circulating until the motion control module gives a state of 0, and recycling the object;
step S23, the motion control module generates a motion control instruction of the three-dimensional entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect diagram display module by analyzing the result information of the C # background calling and driving interface module; and simultaneously, the module gives three return values of-1, 0 and 1 according to the motion state of the scene object. -1 indicates that the motion has ended, which can be recycled, 0 indicates that the moving object is not active, 1 indicates that the object has been active and is moving;
step S24, analyzing the information of the ship dynamic positioning sensor processing information module, if finding that the related entity model does not meet the design requirement, returning to the ocean platform and ship modeling module, and carrying out design modeling on the ocean platform and ship modeling module again until the design requirement is met;
s25, initializing and configuring a relevant three-dimensional entity model and a marine scene model through LynX Prime graphical interface design software in Vega Prime, wherein the key for setting model initialization is the positioning of the relevant model in a scene, performing structural processing on the model when three-dimensional entity modeling is performed to obtain texture coordinates and geometric coordinates, and setting specific positioning for the real longitude and latitude of the marine scene in an electronic chart;
s26, setting the motion effect of the entity, and constructing a relevant special effect model on the premise of not reducing the real-time performance of the visual simulation in order to generate an environment with stronger reality sense;
step S3, a realization process of scene simulation rendering of the ship dynamic positioning simulator:
step S31, loading the max file and the ocean scene model including the storm flow, the sunny day, the cloudy day and the rainy day generated in the step S1 into simulation software Vega Prime, and enabling the ocean scene model including the storm flow, the sunny day, the cloudy day and the rainy day to be part of visual simulation real-time application;
step S32, after loading a three-dimensional entity model including a ship, a max file and an ocean scene model including storm flow, sunny days, cloudy days and rainy days, a flt file into simulation software Vega Prime, finishing initialization setting of a definition window, an observer, a motion model, a scene motion body, an environment and a special effect thereof in an ACF in an application interface LynX, configuring an environment required by real-time simulation, compiling and saving the ACF file;
step S33, the simulation time of the model and the moving object in the scene is analyzed, if the simulation time exceeds the preset simulation time or the real-time requirement is not met, the simulation time returns to the GPU graphic processing accelerated rendering module to perform accelerated rendering until the requirements are met;
step S4, driving of the scene simulation of the ship dynamic positioning simulator and presentation of the final effect:
s41, receiving the simulation rendering three-dimensional entity and the scene model obtained in the third step, classifying the three-dimensional entity and the scene model, and arranging relevant interfaces of a Vega Prime simulation platform so as to be matched with a C # driving interface;
and step S42, writing a related simulation program, calling an API function initialization system and a module class of Vega Prime by using a C # in Visual Studio 2014.NET, and calling a frame loop function drawing entity and a scene loop so as to realize the Visual real-time simulation application program.
And step S43, performing relevant operation by using the formed visual simulation application program according to the requirement to obtain a real and vivid scene effect, and then conveying the scene effect to the dynamic positioning effect display module to display the final effect on the display equipment.
The following is a specific implementation of the present invention.
As shown in fig. 1, the dynamic positioning ship three-dimensional view simulation system based on the GPU of the present invention includes: the system comprises an electronic chart, a texture database module, an ocean platform and ship modeling module, a ship dynamic positioning sensor processing information module, a positioning ship and storm flow motion control module, a three-dimensional entity and ocean scene simulation module, a GPU (graphics processing unit) graph processing acceleration rendering module, a C # background calling and driving interface module and a dynamic positioning effect chart display module, wherein the electronic chart, texture database module mainly obtains entity appearance, geometric shape and other data through a design drawing and real object measurement data, processes related pictures to obtain texture data, and classifies, arranges and stores the collected image data; the ocean platform and ship modeling module is mainly combined with the 3D MAX and the Multigen creator to establish entity models such as ships and scene models such as stormy waves, weather and the like; the ship positioning sensor processing information module mainly receives interface states in the C # background calling and driving interface module and motion states in the motion control modules for positioning ships, stormy waves and the like, monitors and processes related state information of the two modules; the ship and storm flow motion control module mainly responds to information corresponding to the information processing module of the ship positioning sensor, and generates motion control instructions of the three-dimensional entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect diagram display module by analyzing a result data set of the C # background calling and driving interface module; the three-dimensional entity and ocean scene simulation module establishes a scene tree for the imported geometric file of the construction model according to the motion special effect of the object output by the motion control module for receiving ships, stormy waves, currents and the like, and uniformly renders each model and scene on a Vega Prime simulation platform; the GPU graphic processing accelerated rendering module receives a geometric scene graph obtained after the processing of the three-dimensional entity and ocean scene simulation module, and the geometric scene graph is further processed through the scenes and special effect commands; the C # background calling and driving interface module mainly comprises contents in two aspects, namely monitoring the interface state of the C # background calling and driving module and processing a C # background calling and driving module interface data result set; the dynamic positioning effect graph display module is responsible for displaying scene simulation, and the final effect is displayed through the dynamic positioning effect graph display module.
As shown in fig. 2, the implementation flow of the simulation method mainly includes the following steps:
step 1: establishment of dynamic positioning ship, ocean platform and ocean scene model
The concrete modeling comprises modeling of a three-dimensional entity and modeling of a marine scene. The three-dimensional solid model comprises a dynamic positioning ship, other ships, reference object models such as an ocean platform and a lighthouse, and the ocean scene model comprises ocean situation models such as a storm flow, a sunny and cloudy day and a rainy day and ocean environment models such as a near coast, which is one of the key steps of the simulation method. The simulation method completes the establishment of the three-dimensional entity model and the ocean scene model through the processes of data collection and arrangement, modeling analysis preparation, original entity model generation, environment scene optimization and the like, and the specific modeling process comprises the following steps:
step 1.1, firstly, obtaining data such as ship entity appearance, geometric shape and the like through ship and ocean scene design drawings and real object measurement data, then carrying out on-site picture shooting and processing on related pictures in a common material picture library to obtain ship and ocean environment texture data, removing redundant and incorrect data information, carrying out data conversion and cutting, and carrying out 3D MAX to basically support all picture formats, so that the format conversion of the pictures is not needed, the texture pictures are converted into RGBT picture formats supported by a Multigen Creator, and finally, the collected image data are classified, sorted and stored.
And 1.2, establishing entity models, such as a dynamic positioning ship, other ships, an ocean platform, a lighthouse and the like, and MAX files by utilizing 3D MAX software. Firstly, respectively establishing polygons of a ship, an ocean platform and a lighthouse in a 3D MAX environment, dividing an entity model into smaller units by adopting a unit division method, and finally displaying the basic structure of each entity model; then select
The collected real image is used as texture, and a three-dimensional entity model max file is finally constructed by defining, controlling and explaining a coordinate mode and giving a geometric coordinate and a texture coordinate to the texture.
And 1.3, repeating the steps 1.1 and 1.2 in the Multigen Creator environment for establishing the ocean scene model, and completing ocean situation models including storm flow, sunny, cloudy and rainy days and the like, and ocean environment models near the coast and the like, flt files.
And 1.4, performing structural adjustment on the three-dimensional entity model and the ocean scene model established in the steps, optimizing the visual simulation output sequence of the three-dimensional entity model and the ocean scene model, and improving the quality of visual pictures. And extracting real data stored in the electronic chart, and sorting the obtained marine geographic element data to build a marine geographic database so as to call the marine geographic database when needed.
And 1.5, obtaining the three-dimensional entity model, the ocean scene model and the ocean geographic element database through the steps to jointly form the three-dimensional visual database required by the simulation method.
Step 2: processing and configuring information of three-dimensional entities such as dynamic positioning ships and the like and ocean scene models;
the specific process is as follows:
and 2.1, conveying the three-dimensional entity model and the ocean scene model to a positioning ship, storm flow and other motion control modules, and monitoring the motion state and life cycle of the scene object by a dynamic positioning sensor processing information module in the cycle time of a subframe.
Step 2.2, the ship dynamic positioning sensor processing information module carries out matching check on whether data required by object motion in three-dimensional visual simulation exists in the information according to the received information, if so, the result information is analyzed, and the result information is transmitted to a positioning ship and a wave flow and other motion control module; if not, the updated receiving information is inquired, and the process is circulated until the motion control modules of the positioning ship, the stormy wave flow and the like give the state of 0, and the object is recycled.
And 2.3, analyzing result information of the C # background calling and driving interface module by the positioning ship and storm flow and other motion control modules to generate motion control instructions of the three-dimensional entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect diagram display module. And simultaneously, the module gives three return values of-1, 0 and 1 according to the motion state of the scene object. -1 indicates that the motion has ended, which can be recycled, 0 indicates that the moving object is not active, and 1 indicates that the object has been active and is moving.
And 2.4, analyzing the information of the information processing module of the ship dynamic positioning sensor, and returning to the ocean platform and the ship modeling module to perform design modeling again until the design requirements are met if the relevant entity model is found not to meet the design requirements.
And 2.5, initializing and configuring a relevant three-dimensional entity model and a marine scene model through LynX Prime graphical interface design software in Vega Prime, wherein the key for setting model initialization is the positioning of the relevant model in the scene, performing structural processing on the model when three-dimensional entity modeling is performed to obtain texture coordinates and geometric coordinates, and setting the specific positioning of the real longitude and latitude of the marine scene in the electronic chart.
And 2.6, setting the motion effect of the entity, and constructing a relevant special effect model, rain, wind, sea waves and the like in weather on the premise of not reducing the real-time performance of visual simulation in order to generate an environment with stronger reality sense.
And step 3: the realization process of scene simulation rendering of the ship dynamic positioning simulator;
and 3.1, obtaining a real-time processing process of the simulation system by combining the three-dimensional modeling software 3D MAX, the Multigen Creator and the simulation software Vega Prime. And (3) loading the three-dimensional entity models such as ships and the like, the max file, the sea scene models such as the stormy wave flow and the flt file generated in the step one into simulation software Vega Prime, and enabling the sea scene models such as the stormy wave flow and the flt file to become a part of the visual simulation real-time application.
And 3.2, after loading three-dimensional entity models such as ships and the like, max files, ocean scene models such as stormy wave flow and the like, flt files into simulation software Vega Prime, finishing initialization settings of a definition window, an observer, a motion model, a scene motion body, an environment, a special effect and the like in the ACF in an application interface LynX, configuring an environment required by real-time simulation, and compiling and storing the ACF files.
And 3.3, analyzing the simulation time of the model and the moving object in the scene, and returning to the GPU graphic processing accelerated rendering module for accelerated rendering until the simulation time exceeds the preset simulation time or does not meet the requirement of real-time performance until the simulation time meets the requirement.
And 4, step 4: driving of scene simulation of ship dynamic positioning simulator and presentation of final effect
Step 4.1, receiving the simulation rendering three-dimensional entity and the scene model obtained in the step three, classifying the three-dimensional entity and the scene model, arranging related interfaces of Vega Prime of a simulation platform so as to be matched with a C # driving interface,
and 4.2, writing a related simulation program, calling an API function initialization system and a module class of Vega Prime by using a C # in Visual Studio 2014.NET, and calling a frame loop function drawing entity and a scene loop so as to realize the Visual real-time simulation application program.
And 4.3, performing related operation by using the formed visual simulation application program according to the requirement to obtain a real and vivid scene effect, and then conveying the scene effect to a dynamic positioning effect display module to display a final effect on display equipment such as a projector and the like.
As shown in fig. 3, the connection relationship of the related physical structures of the simulation method is specifically as follows:
1. a chart and texture database end; 2. 3D MAX and Creator modeling ends of an ocean platform and a ship; 3, Vega Prime entity and marine scene rendering end; 4. a computer processing end; 5. and a projector display end.
In order to achieve the purpose and effect, the simulation method related physical structure comprises five parts, namely a chart and texture database end 1, a 3D MAX and Creator modeling end 2 of an ocean platform and a ship, a Vega Prime entity and ocean scene rendering end 3, a computer processing end 4 and a projector display end 5, and the like, wherein the computer processing end 4 is used as a core, and data transmission and analysis are carried out through the computer processing end 4.
The chart and texture database end 1 is connected with the 3D MAX and Creator modeling end 2 and the computer processing end 3 of the ocean platform and the ship, relevant data information about the ocean platform and the ship stored and collected by the chart and texture database end is input into the modeling end 1, modeling of a three-dimensional entity and an ocean scene is completed by the 3D MAX and the Creator, and image data are transmitted to the computer processing end 4 to be stored and arranged;
the 3D MAX and Creator modeling end 2 of the ocean platform and the ship is connected with a Vega Prime entity, an ocean scene rendering end 3 and a computer processing end 4, the modeling end 2 inputs the built three-dimensional entity and ocean scene model information into the rendering end 3, the Vega Prime completes the simulation rendering of the entity and the ocean scene, and meanwhile, the modeling end 2 transmits modeling signals to the computer processing end 4 for storage and arrangement;
the Vega Prime entity and the ocean scene rendering end 3 are connected with the computer processing end 4, and processed three-dimensional entity and simulation data of the scene are transmitted to the computer processing end 4 for storage and arrangement;
the computer processing end 4 is connected with the projector display end 5, an effect graph of a three-dimensional entity and an ocean scene is obtained through data processing, modeling and simulation rendering, and a display signal is transmitted to the projector equipment through the computer processing end 4 to show the final effect of the dynamic positioning ship simulator.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (4)
1. A dynamic positioning ship three-dimensional visual simulation system based on a GPU is characterized in that: the system comprises a database module, an ocean platform and ship modeling module, a dynamic positioning sensor information processing module, a motion control module, an entity and ocean scene simulation module, a GPU acceleration rendering module, a C # background calling and driving module and a dynamic positioning effect display module;
the database module is used for acquiring data of a real object including appearance and geometric shape through related design drawings and data measured by the real object, and converting, sorting and storing acquired data information;
the ocean platform and ship modeling module adopts 3D MAX software to construct a diversified reference object model required by the environment comprising the ship, the target ship, the ocean platform and the lighthouse according to the requirement of dynamically positioning the running environment of the ship and a three-dimensional modeling method; then, constructing an ocean scene model comprising a near coast, wind, waves, currents and sunny days, rainy days and cloudy days by adopting a Multigen Creator software;
the dynamic positioning sensor processing information module is used for developing a simulation cycle interface to obtain three states according to an interface state in an input C # background calling and driving module and a motion state in a motion control module: -1, 0, 1, wherein-1 means that the interface is not connected, 0 means that it has ended, 1 means that the emulation interface is normal and running;
the motion control module is used for responding to information corresponding to the information processing module of the dynamic positioning sensor, and generating a motion control instruction of the entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect display module by analyzing a result data set of the C # background calling and driving module; meanwhile, the module gives three return values of-1, 0 and 1 according to the motion states of the scene objects fed back by the entity and ocean scene simulation module and the dynamic positioning effect display module, wherein-1 represents that the motion is finished and can be recycled, 0 represents that the motion object is not activated, and 1 represents that the object is activated and is moving;
the entity and ocean scene simulation module establishes a scene tree for the imported geometric file of the construction model according to the motion special effect of the object output by the receiving motion control module, the motion of the model needs to define a constraint relation and a motion path, and different nodes of the model are hung on different nodes on one scene tree; the moving part and the non-moving part are respectively hung on different nodes of a scene tree, and are uniformly rendered on a Vega Prime simulation platform according to the arrangement and coordination of the models, so that a complex scene environment graph is finally formed and output to a GPU accelerated rendering module;
the GPU accelerated rendering module receives the geometric scene graph obtained after the processing of the entity and ocean scene simulation module, the geometric scene graph is further processed through the scenes and the special effect commands, the work load of a CPU is reduced through the function of the GPU, and the scene environment graph is accelerated through the GPU accelerated rendering module, so that the rendering simulation speed is greatly accelerated, the display continuity of a scene model is increased, and the real-time performance and the sense of reality of model motion and scene display are realized;
the C # background calling and driving module comprises C # multi-scene simulation interface state monitoring and C # multi-scene simulation interface information processing, and specifically, three states are obtained by monitoring the operation process of the C # background calling and driving module interface and developing a simulation cycle interface: -1, 0, 1, wherein-1 means that the interface is not connected, 0 means that it has ended, 1 means that the emulation interface is normal and running; then, processing the result information output by the C # through an analytic method;
the dynamic positioning effect display module is used for displaying scene simulation, the entity and ocean scene simulation module is driven through the processing process of C # multi-scene simulation interface information of the C # background calling and driving module, calling and controlling of a scene environment are achieved, and the final effect is displayed through the dynamic positioning effect display module.
2. The GPU-based dynamic positioning ship three-dimensional vision simulation system according to claim 1, wherein: the dynamic positioning sensor information processing module calls and drives the interface state in the module and the motion state in the motion control module according to the input C # background to realize two functions: firstly, in the aspect of information receiving, when the state of the C # interface is monitored to be 0, other object models in a result file are added into a task; when the motion state in the motion control module is monitored to be 0, the corresponding image model is recovered; secondly, the information transmission aspect refers to scheduling and controlling information generated by a C # background calling and driving module and a motion control module, and is used for ensuring the real-time performance of the simulation effect, the visual simulation tasks are executed strictly according to the sequence, the realization process is that the information receiving condition, the motion state of a visual object and the life cycle of the motion object are monitored firstly, whether data required by the motion object in the three-dimensional visual is matched according to the received information, and if the data is required, the analyzed result data is output to the visual object motion control module; if not, new received information is inquired, circulation is continued until the motion control module gives a 0 state, and the corresponding object is recycled.
3. A dynamic positioning ship three-dimensional visual simulation method based on a GPU is characterized in that: comprises the following steps of (a) carrying out,
step S1, establishing a dynamic positioning ship, an ocean platform and an ocean scene model:
step S11, firstly, obtaining physical appearance and geometric shape data of a ship through a ship and ocean scene design drawing and real object measurement data, then, taking pictures on the spot and processing related pictures in a common material picture library to obtain texture data of the ship and ocean environment, removing redundant and incorrect data information, carrying out data conversion and cutting, then, converting the texture picture into an RGBT picture format supported by a Multigen Creator, and finally classifying, sorting and storing the collected image data;
step S12, establishing a physical model including a dynamic positioning ship, other ships, an ocean platform and a lighthouse by using 3D MAX software, wherein the physical model is a MAX file;
s13, establishing a marine scene model, repeating the steps S11 and S12 in a Multigen Creator environment, and completing a marine situation model comprising a storm flow, a sunny day, a cloudy day and a rainy day and a marine environment model near the coast, wherein the marine environment model comprises flt files;
step S14, carrying out structural adjustment on the three-dimensional solid model and the ocean scene model established in the steps, optimizing the visual simulation output sequence of the model, and improving the quality of visual pictures; extracting real data stored in the electronic chart, and sorting the obtained marine geographic element data to build a marine geographic database so as to call the marine geographic database when needed;
s15, obtaining a three-dimensional entity model, a marine scene model and a marine geographic element database through the steps to jointly form a required three-dimensional visual database;
step S2, dynamic positioning ship, ocean platform and ocean scene model information processing and configuration:
step S21, the three-dimensional entity model and the ocean scene model are transmitted to a motion control module, and in the period time of one subframe, the dynamic positioning sensor processing information module monitors the motion state and the life cycle of the visual object;
step S22, the dynamic positioning sensor processing information module matches and checks whether the information has data needed by the object motion in the three-dimensional visual simulation according to the received information, if yes, the dynamic positioning sensor processing information module analyzes the result information and transmits the result information to the motion control module; if not, inquiring the updated received information, continuing to circulate until the motion control module gives a state of 0, and recycling the corresponding object;
step S23, the motion control module generates a motion control instruction of the three-dimensional entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect diagram display module by analyzing the result information of the C # background calling and driving interface module; meanwhile, the module gives three return values of-1, 0 and 1 according to the motion state of the scene object; -1 indicates that the motion has ended, which can be recycled, 0 indicates that the moving object is not active, 1 indicates that the object has been active and is moving;
step S24, analyzing the information of the information processing module of the dynamic positioning sensor, if finding that the related entity model does not meet the design requirement, returning to the ocean platform and ship modeling module, and carrying out design modeling on the model again until the design requirement is met;
s25, initializing and configuring a relevant three-dimensional entity model and a marine scene model through LynX Prime graphical interface design software in VegaPrime, wherein the key for setting model initialization is the positioning of the relevant model in a scene, performing structural processing on the model when three-dimensional entity modeling is performed to obtain texture coordinates and geometric coordinates, and setting the specific positioning of the real longitude and latitude of the marine scene in an electronic chart;
s26, setting the motion effect of the entity, and constructing a relevant special effect model on the premise of not reducing the real-time performance of the visual simulation in order to generate an environment with stronger reality sense;
step S3, a realization process of scene simulation rendering of the ship dynamic positioning simulator:
step S31, loading the max file and the ocean scene model including the storm flow, the sunny day, the cloudy day and the rainy day generated in the step S1 into simulation software VegaPrime, and enabling the ocean scene model including the storm flow, the sunny day, the cloudy day and the rainy day to be part of visual simulation real-time application;
step S32, after loading a three-dimensional entity model including a ship, a max file and an ocean scene model including storm flow, sunny days, cloudy days and rainy days, a flt file into simulation software Vega Prime, finishing initialization setting of a definition window, an observer, a motion model, a scene motion body, an environment and a special effect thereof in an ACF in an application interface LynX, configuring an environment required by real-time simulation, and compiling and storing the ACF file;
step S33, the simulation time of the model and the moving object in the scene is analyzed, if the simulation time exceeds the preset simulation time or the real-time requirement is not met, the simulation time returns to the GPU graphic processing accelerated rendering module to perform accelerated rendering until the requirements are met;
step S4, driving of the scene simulation of the ship dynamic positioning simulator and presentation of the final effect:
s41, receiving the simulation rendering three-dimensional entity and the scene model obtained in the step 3, classifying the three-dimensional entity and the scene model, and sorting related interfaces of the VegaPrime of the simulation platform so as to match the C # driving interface;
step S42, writing related simulation programs, calling API function initialization system and module class of VegaPrime by C # in Visual Studio 2014.NET, and calling frame loop function drawing entity and scene loop, thereby realizing the Visual real-time simulation application program;
step S43, performing relevant operation by using the formed visual simulation application program according to the requirement to obtain a real and vivid scene effect, and then conveying the scene effect to a dynamic positioning effect display module to present a final effect on display equipment;
the ocean platform and ship modeling module is combined with the 3D MAX and the Multigen Crertor to establish an entity model comprising a ship and a scene model comprising storm flow and weather; the dynamic positioning sensor processing information module receives the interface state in the C # background calling and driving interface module and the motion state in the motion control module, monitors and processes the related state information of the two modules; the motion control module responds to information corresponding to the information processing module of the ship positioning sensor, and generates a motion control instruction of the three-dimensional entity and ocean scene simulation module and motion parameters required by the dynamic positioning effect diagram display module by analyzing a result data set of the C # background calling and driving interface module; the three-dimensional entity and ocean scene simulation module establishes a scene tree for the imported construction model geometric file according to the motion special effect of the object output by the receiving motion control module, and uniformly renders each model and scene on a VegaPrime simulation platform; the GPU graphic processing accelerated rendering module receives a geometric scene graph obtained after the processing of the three-dimensional entity and ocean scene simulation module, and the geometric scene graph is further processed through the scenes and special effect commands; the C # background calling and driving interface module comprises C # background calling and driving module interface state monitoring and C # background calling and driving module interface data result set processing; and the dynamic positioning effect picture display module is responsible for displaying scene simulation.
4. The GPU-based dynamic positioning ship three-dimensional visual simulation method according to claim 3, characterized in that: the specific implementation process of the step S12 is as follows: firstly, respectively establishing polygons of a ship, an ocean platform and a lighthouse in a 3D MAX environment, dividing the entity model into subunits by adopting a unit division method, and finally displaying the basic structure of each entity model; and then selecting the real image collected in the step S11 as a texture, and finally constructing a three-dimensional entity model max file by defining, controlling and explaining a coordinate mode and giving a geometric coordinate and a texture coordinate to the texture.
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