CN108492366A - Adaptively more scenes synthesize virtual views method to unmanned plane - Google Patents
Adaptively more scenes synthesize virtual views method to unmanned plane Download PDFInfo
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- CN108492366A CN108492366A CN201810171860.XA CN201810171860A CN108492366A CN 108492366 A CN108492366 A CN 108492366A CN 201810171860 A CN201810171860 A CN 201810171860A CN 108492366 A CN108492366 A CN 108492366A
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Abstract
The invention discloses a kind of unmanned plane, adaptively more scenes synthesize virtual views method, comprise the steps of：One, the unmanned plane model built up and airport model are put under specified path；Two, initializing variable, landform, unmanned plane position, weather data, perspective data；Three, configuration output window position, size and resolution ratio and output channel position；Four, configuration exports infrared effect and color effect variable；Five, start VegaPrime software transfer unmanned plane models and airport model；Six, unmanned plane position, posture and rudder face information are received and parsed through, corresponding unmanned plane motion picture is made by unmanned plane model, scenic picture is made by airport model.The present invention is by will be to the carry out Accurate Model of unmanned plane and airport, and by after modeling unmanned plane dummy model and airport dummy model pass through dynamic scene driving call, it realizes relative motion of the virtual unmanned plane model relative to airport dummy model, pilot is made to have feeling on the spot in person.
Description
Technical field
The invention belongs to virtual views technology, solve the problems, such as that unmanned plane landing, simulated training are not under severe weather conditions
The problems such as intuitive and unmanned plane strange land landing is to different airport three-dimensional vision demands.The present invention consider texture modeling accuracy,
The factors such as elevation modeling accuracy, display view angle, the switching of multimachine field propose a kind of unmanned plane adaptively more scenes synthesis virtual views
Technology.It realizes to the technological innovation to takeoff and andings scenes such as airfield runway, taxiway, commander's guidance stations；Highway, railway,
The artificial scene such as cities and towns；The meteorology scene such as cloud, mist, rain, snow；The natural landscapes such as building, field, river, trees, mountain peak and
The modeling of night flight airfield light system when landing, sliding etc. can greatly reduce the probability that accident occurs for unmanned plane landing, have
Important military significance.
Technical background
In UAV ground control station, virtual views are unmanned plane during flying person/operators with being superimposed for unmanned plane HUD
Manipulate unmanned plane landing important evidence, especially to bad weather when landing play a crucial role.From unmanned plane
The angle that face control station uses needs various dimensions as much as possible to understand posture and unmanned plane and the airport of unmanned plane during flying
Relative position makes unmanned plane during flying person/operator have a kind of feeling on the spot in person as far as possible.
Research about three-dimension scene simulation is carrying out always, mainly has unmanned plane rapid modeling method and is based on landform
Database Modeling method.The advantages of unmanned plane rapid modeling method, is that modeling speed is fast, has higher real-time, still
Model accuracy is inadequate；Based on topographic database modeling, altitude data and data texturing it is from the horse's mouth, and obtain the military
Recognize, so model accuracy can reach user's requirement, but modeling speed is slower.
In order to meet the use demand of user, it is more suitable for making for unmanned aerial vehicle station using based on topographic database modeling
With requiring.Since vision simulation operand is very big, so the present invention takes into account the improved efficiency of later stage what comes into a driver's, use face few as possible
Piece expresses effect true to nature as possible, is then imported in Creator tool software and carries out dough sheet optimization amendment, and in texture number
Modeled using classification according to resolution ratio, the km region of 10 km of airport center × 10 is high-precision area, fixture resolution not less than 1 meter/
Pixel；The km region of 30 km of airport center × 30 is transition region, and fixture resolution is not less than 5 meters/pixel；Other zone-textures
Resolution ratio be not less than 15 meters/pixel, can meet in this way unmanned aerial vehicle station the high-precision of airport central area is shown and
The display efficiency requirement of what comes into a driver's can be met.Since there are many visual display factor needed to be considered, it improves unmanned plane landing safety
Property an important factor for one of, have prodigious researching value.
Invention content
The goal of the invention of the present invention is to provide a kind of unmanned plane adaptively more scenes synthesis virtual views methods, solves nothing
The problem of man-machine pilot/operator is unable to direct feel aspect and relative position, in addition, also solving data precision not
The problems such as enough and display efficiency is low.
The goal of the invention of the present invention is achieved through the following technical solutions：
Adaptively more scenes synthesize virtual views methods for a kind of unmanned plane, comprise the steps of：
Step 1: the unmanned plane model built up and airport model are put under specified path；
Step 2: initializing variable, landform, unmanned plane position, weather data, perspective data；
Step 3: configuration output window position, size and resolution ratio and output channel position；
Step 4: configuration exports infrared effect and color effect variable；
Step 5: starting VegaPrime software transfer unmanned plane models and airport model；
Step 6: receiving and parsing through unmanned plane position, posture and rudder face information, corresponding nothing is made by unmanned plane model
Man-machine motion picture makes scenic picture by airport model.
Preferably, the unmanned plane model in step 6 and airport model individually occupy a thread, unmanned plane position, posture
Reception and parsing with rudder face information are completed by other threads.
Preferably, the modeling method of unmanned plane model is：
Step A.1, collect the shape data of certain type unmanned plane；
A.2, using shape data to the bone of certain type unmanned plane step models；
Step A.3, texture mapping is carried out on the skeleton model of certain type unmanned plane；
A.4, to the moving part of unmanned plane step models.
Preferably, the modeling method of airport model is：
Step B.1, collect Law of DEM Data, remote sensing image data, cultural traits data；
B.2, by Presagis Terra Vista softwares to remote sensing image data step carries out geometric correction, color school
Just, the processing of fusion, segmentation etc.；
Step B.3, by Global Mapper softwares on the basis of elevation model data plus folded remote sensing image data,
Arrange parameter, structure three dimensional topographic data library；
Step B.4, threedimensional model make
B.5, by Presagis Terra Vista softwares step on the basis of elevation model data, adds folded remote sensing shadow
As data, threedimensional model and cultural traits data, airport model is built.
Preferably, the modeling method of elevation model data is：It is thin lattice by terrain elevation data cutting, makes respectively each
The relief model of thin lattice.
The beneficial effects of the present invention are：
In the present invention, by will be and empty by the unmanned plane after modeling to the carry out Accurate Model of unmanned plane and airport
Analog model and airport dummy model are driven by dynamic scene to be called, and realizes virtual unmanned plane model relative to airport dummy model
Relative motion, so that pilot is had feeling on the spot in person.Reach following advantageous effect.
(1) through the invention, it solves unmanned plane during flying person/operator and is sitting in cabin operation unmanned plane is non-intuitive and ask
Topic；
(2) through the invention, when solving unmanned plane during flying/operator's simulated training, pilot/operator is seemingly grasping
Make actual airplane flying, greatly strengthens the effect of simulated training；
(3) it by the invention it is possible to realize the free switching between different airports, solves unmanned aerial vehicle station strange land and rises
Virtual views problem drops；
(4) by the invention it is possible to realize the simulated training problem of the special feelings such as special weather, different extraneous items may be implemented
Simulated training under part.
Description of the drawings
Fig. 1 is the overall flow schematic diagram of the present invention.
Fig. 2 is the Terrain Pro pictures in Creator.
Fig. 3 is to defend piece to obtain and tile texture cutting figure.
Fig. 4 is MetaFlight file organization formats.
Fig. 5 is dynamic scene driving mentality of designing.
Fig. 6 is what comes into a driver's program circuit and Frame Design figure.
Fig. 7 is unmanned plane modelling effect figure.
Fig. 8 is airport modelling effect figure.
Fig. 9 is synthesis virtual views third view effect figure.
Figure 10 is virtual views the first view effect figure.
Figure 11 is more scene synthesis virtual views design sketch.
Specific implementation mode
A kind of embodiments of the present invention and step is given below.
Below by taking unmanned plane universal grounding control station adaptively more scene synthesis virtual views as an example, wrapped in the present embodiment
Include certain type unmanned plane modeling, certain airport modeling and dynamic scene Driver Design, architectural framework as shown in Figure 1, wherein without
Man-machine modeling and certain airport, which model, belongs to static modelling, after static modelling, is driven by dynamic scene driver quiet
The model of state modeling realizes relative motion of the unmanned plane model relative to airport model, and pilot is allowed to have sense on the spot in person
Feel.
The first step, unmanned plane modeling (static modelling)
Unmanned plane modeling realizes that rapid modeling, effect are as shown in Figure 7 by following steps：
1. collecting the profile material of certain type unmanned plane；
2. the bone of certain type unmanned plane models；
3. certain type unmanned plane texture mapping；
4. the moving parts DOF node modelings such as unmanned plane rudder face, undercarriage control and magazine.
Second step, certain airport modeling (static modelling)
Realize that airport modeling, design sketch are as shown in Figure 8 by following steps：
1. data collection
Modeler collects the data sources such as Law of DEM Data, remote sensing image data, cultural traits data.
In order to make the megarelief of suitable unmanned plane during flying, the terrain elevation data to range more than up to a hundred kilometers carries
It takes and establishes threedimensional model, if a model is fabricated separately, data volume will be very big, is not suitable for the interior of editor's landform and program
Optimization and dynamic load are deposited, therefore must be thin lattice by landform cutting, makes the landform of each thin lattice, the landform per small lattice respectively
Model is called terrain tile (Tile), and the landform of this thin lattice is not only conducive to editor, can pass through Vega Prime's
MetaFlight carrys out dynamic page scheduling terrain data.
Tile landform is made by the Terrain pro carried in Creator to make, needs a large amount of manual work,
Full-featured, the landform produced is txp, supports paging dynamic dispatching, and a large amount of cultural traits data is needed to support that interface is such as
Shown in 2 figures.
Landform is made other than needing altitude data, it is also desirable to which true texture resolves it according to correct geographical coordinate
It coincide afterwards with landform.High definition is defended piece acquisition modes and is mainly obtained by the military at present, obtains different resolution as needed
High definition defends piece.Interface is as shown in figure 3, the software can obtain defending piece and being drawn according to specified rule recombination in specified range automatically
Divide and defends piece.
After having altitude data and defending sheet data, need to make MetaFlight model files, MetaFlight is
In a kind of data mode of descriptive data base of exploitation in 2001, it uses XML language to describe complexity for Presagis companies
Large-scale terrain databases.MetaFlight files itself simultaneously do not include specific geometry data, it describes composition database
Numerous files (file formats such as flt, fst, vsb and pfb) organizational form, or even altitude data, image and arrow can be described
Data etc. are measured, the application range of OpenFlight is greatly extended, enable the data of operation and complicated scene database phase
Association.MetaFlight does the mapping of database file and geographical location using network topology.Its mapping process such as Fig. 4 institutes
Show.Vega Prime LADBM modules are specifically used to solve the problems, such as the scene that scheduling is very huge and complicated, it passes through dynamic
The mode of paging scheduling loads and organizes the landform on current observer periphery, and MetaFlight is used for describing data relationship
Hierarchical fashion so that this efficient scheduling mode of LADBM is possibly realized.
2. data processing
Modeler carries out geometric correction, color school by Presagis Terra Vista softwares to remote sensing image data
Just, the processing of fusion, segmentation etc.；
3. topographic database generates
Modeler adds folded remote sensing shadow by Global Mapper softwares on the basis of Law of DEM Data (DEM)
As data (Geotiff), arrange parameter, structure three dimensional topographic data library；
4. threedimensional model makes
Airport modelling, including extractor field vector information are referred mainly to, structure airfield runway, is coupled road, stops taxiway
The base surfaces such as machine level ground and Aerodrome Construction stick on texture, light material etc.；
5. ground scape database generates
Modeler on the basis of Law of DEM Data (DEM), is added by Presagis Terra Vista softwares
It folds remote sensing image data (Geotiff) and hints obliquely at the threedimensional models such as airport, typical building and other cultural traits, being built into has
Real-time simulation characteristic, high fidelity airport model；
6. ground scape data library test
Finally, airport model is loaded into three-dimensional rendering software VegaPrime and carries out roaming test by modeler.
Third step, dynamic scene Driver Design (dynamic scene driving)
1. the unmanned plane model built up and airport model are put under specified path；、
2. initializing variable, landform, unmanned plane position, weather data, perspective data；
3. configuring output window position, size and resolution ratio and output channel position；
4. configuration exports infrared effect and color effect variable；
5. starting VegaPrime software transfer unmanned plane models and airport model；
6. receiving and parsing through unmanned plane position, posture and rudder face information, unmanned plane model makes corresponding action, shows rudder
The motion picture of the deflection in face and unmanned plane between airport, is particularly shown effect and sees Fig. 9 and Figure 10.
It during dynamic scene drives, is programmed using C Plus Plus, scene drive is carried out using Vega Prime API,
Windows API control multithreading, and WinSocket carries out network communication, and the drafting of antenna beam can also be used to OpenGL
It calls, their relationship as shown in figure 5, mainly introduce dynamic scene driver framework and dynamic scene driving workflow below.
A) dynamic scene driver framework
The application program of multithreading can preferably utilize system resource so that the overall operation efficiency of process obtains
Larger raising, while enhancing the flexibility of application program.The method of operation of analysis system, what comes into a driver's computer and other computers
Between communication and scene drive rendering be two incoherent processes, scene drive is not relevant for the communication process of socket, only
The state value that communication process obtains is concerned about, so the process unrelated with scene drive and rendering is all placed on other threads by the present invention
Come carry out.Shown in program frame as shown in FIG. 6, VirtualSceneSimApp threads are the main thread of what comes into a driver's work, its institute
The groundwork of completion be Scene dispatch with the data source that renders, and dispatch in communication thread SimDataTcpExchange and
SimDataUdpExchange, VirtualSceneSimApp only " take " ready-made data to use, and but regardless of receiving and send, this
A little work give communication thread and go to complete.
B) dynamic scene drives workflow
After the completion of engineering is established, we can add the principal function file Program.cpp of program, we are sharp first
With some user configuration informations, such as host ip, port numbers etc. of XMLDOM reading programs, VP API initialization is then called,
Next it is exactly VP application programs, workflow is：1. initializing vp modules；2. defining configuration file；3. required for configuration
The resource used；4. frame recycles；5. closing VP modules.
7. when necessary, being superimposed unmanned plane HUD and virtual views synthesis picture and the more scenes of the other Scene realizations of superposition being closed
At the function of virtual views, design sketch is as shown in figure 11.
Claims (5)
1. adaptively more scenes synthesize virtual views method to a kind of unmanned plane, comprise the steps of：
Step 1: the unmanned plane model built up and airport model are put under specified path；
Step 2: initializing variable, landform, unmanned plane position, weather data, perspective data；
Step 3: configuration output window position, size and resolution ratio and output channel position；
Step 4: configuration exports infrared effect and color effect variable；
Step 5: starting VegaPrime software transfer unmanned plane models and airport model；
Step 6: receiving and parsing through unmanned plane position, posture and rudder face information, corresponding unmanned plane is made by unmanned plane model
Motion picture makes scenic picture by airport model.
2. adaptively more scenes synthesize virtual views method to a kind of unmanned plane according to claim 1, it is characterised in that institute
It states unmanned plane model in step 6 and airport model individually occupies a thread, unmanned plane position, posture and rudder face information
It receives and parsing is completed by other threads.
3. adaptively more scenes synthesize virtual views method to a kind of unmanned plane according to claim 1, it is characterised in that nothing
The modeling method of man-machine model is：
Step A.1, collect the shape data of certain type unmanned plane；
A.2, using shape data to the bone of certain type unmanned plane step models；
Step A.3, texture mapping is carried out on the skeleton model of certain type unmanned plane；
A.4, to the moving part of unmanned plane step models.
4. adaptively more scenes synthesize virtual views method to a kind of unmanned plane according to claim 1, it is characterised in that machine
The modeling method of field model is：
Step B.1, collect Law of DEM Data, remote sensing image data, cultural traits data；
Step B.2, by Presagis Terra Vista softwares to remote sensing image data carry out geometric correction, colour correction,
The processing of fusion, segmentation etc.；
Step B.3, by Global Mapper softwares on the basis of elevation model data plus folded remote sensing image data, setting
Parameter, structure three dimensional topographic data library；
Step B.4, threedimensional model make
B.5, by Presagis Terra Vista softwares step on the basis of elevation model data, adds folded remote sensing image number
According to, threedimensional model and cultural traits data, airport model is built.
5. adaptively more scenes synthesize virtual views method to a kind of unmanned plane according to claim 4, it is characterised in that high
The modeling method of journey model data is：It is thin lattice by terrain elevation data cutting, makes the relief model of each thin lattice respectively.
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Cited By (4)
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| CN111161413A (en) * | 2019-12-20 | 2020-05-15 | 东南大学 | Construction method of three-dimensional virtual airport platform based on GIS |
| CN111443723A (en) * | 2020-04-07 | 2020-07-24 | 中国航空无线电电子研究所 | Program for generating and displaying third visual angle view of unmanned aerial vehicle |
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