CN112034733A - City simulation method of quad-rotor unmanned aerial vehicle based on Unity3D - Google Patents
City simulation method of quad-rotor unmanned aerial vehicle based on Unity3D Download PDFInfo
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Abstract
The invention discloses a city simulation method of a quad-rotor unmanned aerial vehicle based on Unity3D, which comprises the following steps: s1, constructing a four-rotor unmanned aerial vehicle model, a sensor, a city street, a building, an environment, a human model and an animal model based on Maya software; s2, importing the Maya software model into Unity3D software, and performing real-time rendering by utilizing Unity3D software; s3, developing a dynamic model of the quad-rotor unmanned aerial vehicle by using a physical engine in the Unity 3D; developing a static model of the quad-rotor unmanned aerial vehicle by utilizing a dynamic model and motor characteristics of the quad-rotor unmanned aerial vehicle; developing an ultrasonic sensor, an infrared sensor, a laser radar sensor and a camera sensor by using laser and collision detection; and S4, acquiring sensor data, and realizing flight task simulation of the quad-rotor unmanned aerial vehicle in the urban environment according to a given task. The invention has the advantages of omnibearing simulation, flexible online modification and configuration, real-time interaction and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle simulation, in particular to a city simulation method of a quad-rotor unmanned aerial vehicle based on Unity 3D.
Background
With the continuous maturity of micro-electro-mechanical systems (MEMS) technology, the weight of the unmanned aerial vehicle MEMS relationship navigation system is greatly reduced, and meanwhile, the unmanned aerial vehicle technology is rapidly developed due to the vigorous development of the microelectronic technology. Various consumer-grade multi-rotor unmanned aerial vehicles enter ordinary lives. Various enterprise-level unmanned aerial vehicles are actively used in various fields such as aerial photography, routing inspection, agriculture, disasters, meteorology, surveying and mapping, mineral exploration, logistics and the like. However, risks and task implementation failures exist when unmanned aerial vehicle operation is carried out under the influence of people flow and traffic flow in a complex urban environment, and the problem that unmanned aerial vehicle simulation is carried out by constructing a nearly real urban environment in the urban unmanned aerial vehicle development process becomes an urgent need to be solved.
The simulation existing scheme for the quad-rotor unmanned aerial vehicle is that a flight control rule of the quad-rotor unmanned aerial vehicle is established according to dynamics and motion rules of a thrust and control moment generation principle, posture and position of the quad-rotor unmanned aerial vehicle introduced in the thesis Songkai 'design and implementation of a Unity 3D-based quad-rotor unmanned aerial vehicle simulation training system', so that flight control and training are realized. But this scheme is only as four rotor unmanned aerial vehicle's flight training system, and it lacks the mutual, the sensor development of environment, and the model of this scheme is fixed moreover and can not change according to the demand, and more importantly this scheme is single emulation only to four rotor flight training emulation, do not consider many unmanned aerial vehicle aspects such as cooperation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a Unity 3D-based quad-rotor unmanned aerial vehicle city simulation method which can realize omnibearing simulation, flexible online modification and configuration and real-time interaction.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a city simulation method of a quad-rotor unmanned aerial vehicle based on Unity3D comprises the following steps:
s1, constructing a four-rotor unmanned aerial vehicle model, a sensor, a city street, a building, an environment, a human model and an animal model based on Maya software;
s2, importing the Maya software model into Unity3D software, and performing real-time rendering by utilizing Unity3D software;
s3, developing a dynamic model of the quad-rotor unmanned aerial vehicle by using a physical engine in the Unity 3D; developing a static model of the quad-rotor unmanned aerial vehicle by utilizing a dynamic model and motor characteristics of the quad-rotor unmanned aerial vehicle; developing an ultrasonic sensor, an infrared sensor, a laser radar sensor and a camera sensor by using laser and collision detection;
and S4, acquiring sensor data by combining the established urban environment, and realizing flight task simulation of the quad-rotor unmanned aerial vehicle in the urban environment according to a given task.
Further, in step S1, the construction process of the four-rotor unmanned aerial vehicle model includes four parts: one quarter of the machine body adopts a cylindrical basic body to stretch, cut and move the vertex to construct an oblate sphere;
the horn part adopts a cylinder, the connecting surface of the cylinder and the connecting surface of the machine body are respectively selected, the horn shape of the horn is constructed by using a bridging tool, and then the horn shape is adjusted by using an extruding and moving tool;
the motor part is constructed by a cylinder;
the propeller adopts a cylinder, the basic shape of the propeller is cut on the side surface of the cylinder by a polygonal cutting tool, and the propeller is constructed by an extrusion tool;
the foot rest is constructed by two rectangles;
the laser sensor is constructed by two cylinders with different radiuses, and the camera is constructed by a rectangle and a cylinder;
human and animal models are constructed using curved surfaces, rectangles and cylinders.
Further, the step S2 specifically includes:
s2-1 and Unity3D are imported into a model constructed by Maya software;
s2-2, setting of environmental factors of terrain construction and wind power;
s2-3, adding model materials, adding collision types and rendering environment in the Shade Lab language in real time.
Further, in step S3, the specific process of developing the dynamic model of the quad-rotor drone by using the physics engine in Unity3D is as follows:
the dynamics model of the quad-rotor unmanned aerial vehicle is as follows:
tension force: fi＝kiω2 i(i＝1，2，3，4)；
ki: the coefficient of tension of the ith propeller,
the square of the rotational speed of the ith propeller;
control amount: vertical lift control: u shape1＝F1+F2+F3+F4；
Roll control amount: u shape2＝2(F1-F3)；
Pitch control amount: u shape3＝2(F1-F4)；
Yaw control amount: u shape4＝F1+F2-F3-F4；
Rotation angle: θ: a roll angle roll; phi: a pitch angle pitch;
yaw angle yaw;
and (3) motion model:
m: mass of unmanned aerial vehicle, kx: coefficient of air resistance, k, in the x-axis directiony: coefficient of air resistance, k, in the y-axis directionZ: z-axis coefficient of air resistance, Ag: a gravitational acceleration coefficient;
the dynamic model of the drone utilizes rigid body simulations in the physics engine provided by Unity 3D.
Further, the specific implementation process of step S4 includes the following six parts:
s4-1, receiving a flight mission:
s4-2, acquiring and storing the coordinates of the collision of the laser ray and the object and the image shot by the camera;
s4-3, fusing data of the IMU and the sensors by using a condition sorting method, and sorting the priority of the data collected by the multiple sensors according to the weather condition of the urban simulation scene, wherein the data are easy to be interfered by rain in rainy weather, so that the priority of the data of the camera is reduced, and the data of the laser radar has the highest priority. Setting scoring coefficients for all priorities, and performing reliability evaluation and fusion on the collected sensor data according to the current sorting condition; (ii) a
S4-4, controlling the position and the posture of the unmanned aerial vehicle by using a dynamic model and a PID control algorithm of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to reach a specified task point;
s4-5, judging the ending of the flight mission;
s4-6, and returning the unmanned aerial vehicle.
Compared with the prior art, the principle and the advantages of the scheme are as follows:
1) to four rotor unmanned aerial vehicle's model emulation, this scheme divides into two parts with four rotor unmanned aerial vehicle models: dynamic models and static models. And a dynamic model is realized by utilizing a physical engine, and a static model is realized by utilizing a dynamic law and electrical characteristics. Two aspects merge simulation will be able to the real dynamics and the electrical characteristics of simulation four rotor unmanned aerial vehicle of full aspect.
2) Aiming at the configuration of the model, the method and the system fuse the Maya software and the Unity3D software, utilize the model construction of the Maya software and the online import of the Unity model, realize the flexible online modification and configuration of the model, and can flexibly configure the urban simulation environment.
3) To the environment interaction, this scheme utilizes ray and collision detection simulation ultrasonic sensor, infrared ray sensor, laser radar sensor, unmanned aerial vehicle universal sensor such as camera sensor, realizes four rotor unmanned aerial vehicle at city environment's perception emulation and real-time interaction.
4) Aiming at the single function of the existing simulation, the scheme modularizes the characteristics of each part model such as an unmanned aerial vehicle static model, modularizes the characteristics of a sensor model and provides a configured interface. Utilize each module can realize four rotor unmanned aerial vehicle in each type emulation of urban environment.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the services required for the embodiments or the technical solutions in the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a city simulation method of a quad-rotor unmanned aerial vehicle based on Unity3D according to the present invention.
Detailed Description
The invention will be further illustrated with reference to specific examples:
as shown in fig. 1, the city simulation method for quad-rotor unmanned aerial vehicle based on Unity3D in this embodiment includes the following steps:
s1, constructing a four-rotor unmanned aerial vehicle model, a sensor, an urban street, a building, an environment, a human body and an animal model based on Maya software, and specifically comprising the following steps:
s11: constructing a physical model of a quad-rotor unmanned aerial vehicle and a sensor;
s12: building models of urban buildings such as buildings, street lamps and the like and urban trees, flowers, plants, lakes and the like;
s13: constructing a city human model and an animal model;
more specifically, the construction process of the four-rotor unmanned aerial vehicle model includes four parts: one quarter of the machine body adopts a cylindrical basic body to stretch, cut and move the vertex to construct an oblate sphere;
the horn part adopts a cylinder, the connecting surface of the cylinder and the connecting surface of the machine body are respectively selected, the horn shape of the horn is constructed by using a bridging tool, and then the horn shape is adjusted by using an extruding and moving tool;
the motor part is constructed by a cylinder;
the propeller adopts a cylinder, the basic shape of the propeller is cut on the side surface of the cylinder by a polygonal cutting tool, and the propeller is constructed by an extrusion tool;
the foot rest is constructed by two rectangles;
the laser sensor is constructed by two cylinders with different radiuses, and the camera is constructed by a rectangle and a cylinder;
human and animal models are constructed using curved surfaces, rectangles and cylinders.
S2, importing the Maya software model into Unity3D software, and performing real-time rendering by utilizing Unity3D software; the method specifically comprises the following steps:
s2-1 and Unity3D are imported into a model constructed by Maya software;
s2-2, setting of environmental factors of terrain construction and wind power;
s2-3, adding model materials, adding collision types and rendering environment in the Shade Lab language in real time.
In the above description, the model import is specifically a process of opening an outline view in Maya software, selecting an export object, sending it to Unity, and storing it in Unity engineering.
Specifically, the terrain is constructed by creating a ground in Unity3D software, and setting the length, width, height and surface texture of the ground on a description interface of the ground. The relief of the topography can be provided by height brushes and the grass or pavement of the ground can be realized by a map.
Real-time rendering of the environment is performed by writing a Shade Lab program, including: shade coloring root commands, Properties attribute commands, subshadler Tags commands, Pass commands, Fallback commands, Category commands.
S3, developing a dynamic model of the quad-rotor unmanned aerial vehicle by using a physical engine in the Unity 3D; developing a static model of the quad-rotor unmanned aerial vehicle by utilizing a dynamic model and motor characteristics of the quad-rotor unmanned aerial vehicle; developing an ultrasonic sensor, an infrared sensor, a laser radar sensor and a camera sensor by using laser and collision detection;
the specific process of developing the dynamic model of the quad-rotor unmanned aerial vehicle by using the physical engine in Unity3D is as follows:
the dynamics model of the quad-rotor unmanned aerial vehicle is as follows:
tension force: fi＝kiω2 i(i＝1，2，3，4)；
ki: the coefficient of tension of the ith propeller,
the square of the rotational speed of the ith propeller;
control amount: vertical lift control: u shape1＝F1+F2+F3+F4；
Roll control amount: u shape2＝2(F1-F3)；
Pitch control amount: u shape3＝2(F1-F4)；
Yaw control amount: u shape4＝F1+F2-F3-F4；
Rotation angle: θ: a roll angle roll;
a pitch angle pitch;
yaw angle yaw;
and (3) motion model:
m: mass of unmanned aerial vehicle, kx: coefficient of air resistance, k, in the x-axis directiony: coefficient of air resistance, k, in the y-axis directionZ: z-axis coefficient of air resistance, Ag: a gravitational acceleration coefficient;
the dynamic model of the drone is simulated using rigid bodies in the physics engine provided by Unity 3D;
the laser and collision simulation ultrasonic sensor, the infrared sensor, the laser radar sensor and the camera sensor adopt ray and collision detection, and the collision position of the ray and the object is obtained in the callback function.
S4, combining the established urban environment, acquiring sensor data, and realizing flight task simulation of the quad-rotor unmanned aerial vehicle in the urban environment according to a given task, wherein the specific process is as follows:
s4-1, receiving a flight mission:
s4-2, acquiring and storing the coordinates of the collision of the laser ray and the object and the image shot by the camera;
s4-3, fusing data of the IMU and the sensors by using a condition sorting method, and sorting the priority of the data collected by the multiple sensors according to the weather condition of the urban simulation scene, wherein the data are easy to be interfered by rain in rainy weather, so that the priority of the data of the camera is reduced, and the data of the laser radar has the highest priority. Setting scoring coefficients for all priorities, and performing reliability evaluation and fusion on the collected sensor data according to the current sorting condition; (ii) a
S4-4, controlling the position and the posture of the unmanned aerial vehicle by using a dynamic model and a PID control algorithm of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to reach a specified task point;
s4-5, judging the ending of the flight mission;
s4-6, and returning the unmanned aerial vehicle.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (5)
1. A city simulation method of a quad-rotor unmanned aerial vehicle based on Unity3D is characterized by comprising the following steps:
s1, constructing a four-rotor unmanned aerial vehicle model, a sensor, a city street, a building, an environment, a human model and an animal model based on Maya software;
s2, importing the Maya software model into Unity3D software, and performing real-time rendering by utilizing Unity3D software;
s3, developing a dynamic model of the quad-rotor unmanned aerial vehicle by using a physical engine in the Unity 3D; developing a static model of the quad-rotor unmanned aerial vehicle by utilizing a dynamic model and motor characteristics of the quad-rotor unmanned aerial vehicle; developing an ultrasonic sensor, an infrared sensor, a laser radar sensor and a camera sensor by using laser and collision detection;
and S4, acquiring sensor data by combining the established urban environment, and realizing flight task simulation of the quad-rotor unmanned aerial vehicle in the urban environment according to a given task.
2. The city simulation method for quad-rotor unmanned aerial vehicle based on Unity3D according to claim 1, wherein in step S1, the construction process of the quad-rotor unmanned aerial vehicle model comprises four parts: one quarter of the machine body adopts a cylindrical basic body to stretch, cut and move the vertex to construct an oblate sphere;
the horn part adopts a cylinder, the connecting surface of the cylinder and the connecting surface of the machine body are respectively selected, the horn shape of the horn is constructed by using a bridging tool, and then the horn shape is adjusted by using an extruding and moving tool;
the motor part is constructed by a cylinder;
the propeller adopts a cylinder, the basic shape of the propeller is cut on the side surface of the cylinder by a polygonal cutting tool, and the propeller is constructed by an extrusion tool;
the foot rest is constructed by two rectangles;
the laser sensor is constructed by two cylinders with different radiuses, and the camera is constructed by a rectangle and a cylinder;
human and animal models are constructed using curved surfaces, rectangles and cylinders.
3. The city simulation method for quad-rotor unmanned aerial vehicles based on Unity3D according to claim 1, wherein the step S2 specifically comprises:
s2-1 and Unity3D are imported into a model constructed by Maya software;
s2-2, setting of environmental factors of terrain construction and wind power;
s2-3, adding model materials, adding collision types and rendering environment in the Shade Lab language in real time.
4. The city simulation method of quad-rotor unmanned aerial vehicle based on Unity3D according to claim 1, wherein in step S3, the specific process of developing the dynamic model of quad-rotor unmanned aerial vehicle by using the physics engine in Unity3D is as follows:
the dynamics model of the quad-rotor unmanned aerial vehicle is as follows:
tension force: fi＝kiω2 i(i＝1，2，3，4)；
ki: the coefficient of tension of the ith propeller,
the square of the rotational speed of the ith propeller;
control amount: vertical lift control: u shape1＝F1+F2+F3+F4；
Roll control amount: u shape2＝2(F1-F3)；
Pitch control amount: u shape3＝2(F1-F4)；
Yaw control amount: u shape4＝F1+F2-F3-F4；
Rotation angle: θ: a roll angle roll;
a pitch angle pitch;
yaw angle yaw;
and (3) motion model:
m: mass of unmanned aerial vehicle, kx: coefficient of air resistance, k, in the x-axis directiony: coefficient of air resistance, k, in the y-axis directionz: z-axis coefficient of air resistance, Ag: a gravitational acceleration coefficient;
the dynamic model of the drone utilizes rigid body simulations in the physics engine provided by Unity 3D.
5. The city simulation method of quad-rotor unmanned aerial vehicle based on Unity3D according to claim 1, wherein the specific implementation process of step S4 includes the following six steps:
s4-1, receiving a flight mission:
s4-2, acquiring and storing the coordinates of the collision of the laser ray and the object and the image shot by the camera;
s4-3, fusing data of the IMU and each sensor by using a situation sorting method;
s4-4, controlling the position and the posture of the unmanned aerial vehicle by using a dynamic model and a PID control algorithm of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to reach a specified task point;
s4-5, judging the ending of the flight mission;
s4-6, and returning the unmanned aerial vehicle.
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