CN112486036A - Real-time visual cooperative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies - Google Patents
Real-time visual cooperative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/38—Jamming means, e.g. producing false echoes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention discloses a real-time visual collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC, comprising: the system comprises an interference source generating module, an echo generating module, a plurality of guide heads, a plurality of radars, a combat plan and man-machine interface module, a total control module, a data fusion center and a Unity3D scene demonstration device in a computer, wherein a reflective memory card is inserted into each computer PCI slot, each computing mechanism is a distributed control node, and all nodes are interconnected through an optical switch to form a reflective memory network in a star structure mode; the fighting scenario and human-computer interface module, the overall control module, the data fusion center and the Unity3D scene demonstration device perform fighting scenario, overall control, data fusion and three-dimensional scene display in a Windows environment, and the interference source generation module and the echo generation module perform interference and echo data generation and signal processing in an RTX environment. The invention realizes real-time single-machine signal processing and online data interaction, and responds to low time delay.
Description
Technical Field
The invention belongs to a collaborative anti-interference simulation platform construction technology, and particularly relates to a real-time visual collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC.
Background
In the face of the increasingly complex electromagnetic interference environment of modern battlefields, the difficulty of resisting interference and carrying out penetration is gradually increased for a single missile, the comprehensive anti-interference capability of the whole system can be improved by the multi-system cooperative anti-interference, and the cooperative operation of a radar system and a missile system becomes a future main working mode. A collaborative simulation platform is established, a real combat environment is simulated on the platform, and collaborative anti-interference algorithm simulation of each system is carried out, so that the collaborative anti-interference simulation platform has important reference value for design and performance evaluation of a real combat system.
The traditional anti-interference simulation platform has slow data transmission among nodes and long response time delay, and particularly has more obvious defects in the conditions of high-capacity data transmission and distributed node expansion; and the simulation process data and the final result can only be used for checking the stored data file after the simulation is finished, the simulation condition cannot be observed in real time, the problem of the anti-interference algorithm in which step appears can be found in time in the process of simulation debugging, and the situation of a real battlefield cannot be visually presented in a virtual reality mode. In conclusion, the conventional anti-interference simulation platform is difficult to meet the requirements of the conventional collaborative anti-interference simulation on real-time data processing, high-speed data interaction, distributed processing and real-time visualization of simulation conditions.
According to related patent search at home and abroad, 6 patents which are searched are related to the patent application and comprise:
patent 1: chinese patent with patent application number CN201811448468.1 and invention name of composite control method and system of multi-mode turntable;
patent 2: chinese patent with patent application number CN201510787425.6 and invented name of simulation test system and method for resisting infrared saturation interference;
patent 3: chinese patent with patent application number CN201510527598.4 and named as 'timing method and system of guidance control semi-physical simulation system';
patent 4: chinese patent with patent application number CN201410745442.9 and invented name RTX and VMIC-based GNC real-time simulation system construction method;
patent 5: chinese patent with patent application number CN201410637947.3 entitled Integrated interface test System and detection method for semi-physical simulation test of aircraft;
patent 6: the invention discloses a Chinese patent with the patent application number of CN201410559870.2 and the invention name of 'a semi-physical access test measurement and control system of an aircraft'.
The patent 1 provides a composite control method and a composite control system for a multi-mode turntable, and aims to reduce the inter-axis interference of the multi-mode turntable; the patent 2 simulates and controls the radiation characteristic, the motion trail and the combustion process of the infrared bait in real time; patent 3 provides a timing method and a timing system for a guidance control semi-physical simulation system, which solve the problem of data and clock synchronization among nodes of the existing semi-physical simulation system; RTX and VMIC-based aircraft real-time simulation systems are set up in patents 4, 5 and 6, and complex multi-body attitude orbit dynamics calculation is realized. In the application field, some of the patents aim at radar multimode turntable control, some of the patents aim at single equipment to resist infrared baits, some of the patents are applied to aircraft test measurement and control, but the interference resisting function aiming at the cooperation of a plurality of radar electronic detection devices is not realized; in the aspect of technical implementation, the patents do not utilize the superior performance of RTX to greatly compress the program running time, optimize the real-time running performance of the whole system, and even do not combine Unity3D to realize the functions of real-time animation and synchronous demonstration, so that the real-time dynamics of each simulation subsystem in the simulation process cannot be visually presented.
Disclosure of Invention
The invention aims to provide a real-time visual collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC.
The technical scheme for realizing the purpose of the invention is as follows: a real-time visual collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies comprises: the system comprises an interference source generation module, an echo generation module, a plurality of guide heads and a plurality of radars which are respectively arranged in one computer, a combat plan and man-machine interface module, a total control module, a data fusion center and Unity3D scene demonstration equipment which are arranged on the same computer, wherein a reflection memory card is inserted into each computer PCI slot, each computing mechanism is a distributed control node, and all nodes are interconnected through an optical switch to form a reflection memory network in a star structure mode; the fighting scenario and human-computer interface module, the overall control module, the data fusion center and the Unity3D scene demonstration device perform fighting scenario, overall control, data fusion and three-dimensional scene display in a Windows environment, and the interference source generation module and the echo generation module perform interference and echo data generation and signal processing in an RTX environment.
Preferably, the battle scenario and the man-machine interface module are used for parameter setting, including setting scene types: ground to air, air to sea, or air to ground; setting an interference type: jamming, spoofing jamming; the number of radar electronic detection devices is set: the number of guidance heads and the number of radar sections; setting waveform parameters of the detection equipment: LFM mode, PD mode.
Preferably, the overall control module is used for calculating seeker echo data and seeker interference data parameters according to parameters transmitted by the combat planning and human-computer interface module and simulation information required by preset parameter calculation, and respectively sending the seeker echo data and seeker interference data parameters to the echo generation module and the interference source generation module.
Preferably, the overall control module is used for synthesizing the echo data and the interference data generated by the echo generation module and the interference source generation module to generate interference-superimposed echo data and sending the interference-superimposed echo data to the radar and the seeker.
Preferably, the data fusion center obtains a real target position in a complex interference environment according to target measurement information acquired from different directions or echo data containing the target information.
Preferably, the radar and the seeker receive echo data superposed with interference, matched filtering, MTD, CFAR processing, point trace aggregation and monopulse angle measurement are performed in an RTX environment, and data processing time is fixed within a set threshold value by using an RTX preemptive thread scheduling mechanism in a multi-thread core-splitting calculation mode.
Compared with the prior art, the invention has the following remarkable advantages: (1) the RTX hard real-time solution is adopted: performing signal processing in an RTX environment, compressing data processing time in a multi-thread core-splitting calculation mode, and fixing the data processing time within a certain threshold value by utilizing an RTX based preemptive thread scheduling mechanism to realize real-time data processing; (2) a reflective memory local area network is adopted: the optical fiber reflective memory network has low time delay at a hardware level and no protocol at a software level, and realizes real-time data interaction; (3) the Unity3D real-time animation software is adopted: the Unity3D script obtains information of the seeker, the radar, the target, the jammer and the like obtained by final calculation from the overall control module by utilizing the Windows shared memory, and updates the three-dimensional scene, so that the scene demonstration is realized in real time.
Drawings
FIG. 1 is a general architecture diagram of the real-time visualization collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC according to the present invention;
FIG. 2 is a data walking diagram of an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, a real-time visualization collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC includes: the system comprises an interference source generation module, an echo generation module, a plurality of guide heads and a plurality of radars which are respectively arranged in one computer, a combat plan and man-machine interface module, a total control module, a data fusion center and Unity3D scene demonstration equipment which are arranged on the same computer, wherein a reflection memory card is inserted into each computer PCI slot, each computing mechanism is a distributed control node, and all nodes are interconnected through an optical switch to form a reflection memory network in a star structure mode. The system comprises a combat scenario and human-computer interface module, a general control module, a data fusion center and a Unity3D scene demonstration device, wherein the combat scenario and human-computer interface module, the general control module, the data fusion center and the three-dimensional scene display are carried out by the combat scenario and human-computer interface module under the Windows environment, an interference source generation module and an echo generation module carry out interference and echo data generation and signal processing under the RTX environment, data sharing is carried out between the Windows environment and the RTX environment through a shared memory, real-time data transmission is realized among the modules through a reflective memory network, beat synchronization is realized through interrupt control, and the operation of the whole real-time system is realized.
In a further embodiment, as shown in fig. 2, the fighting scenario and man-machine interface module is implemented by combining a QT gui application and a Unity3D three-dimensional animation engine, and a user can set parameters in the QT interface, including setting scene types: ground to air, air to sea, or air to ground; setting an interference type: jamming (noise modulation, etc.), spoofing (drag interference, etc.), etc.; the number of radar electronic detection devices is set: the number of guidance heads and the number of radar sections; setting waveform parameters of the detection equipment: LFM mode, PD mode, etc. After the setting is finished, a 'start' button is clicked, data are transmitted into the overall control module through the shared memory, meanwhile, a unity three-dimensional animation scene is entered (an exe program packaged in unity in advance is started in a QT script), a user can click a radar button, a seeker button and an interference machine button of a UI interface of the unity three-dimensional animation, the model moves along with a mouse and pulls the three-dimensional model to a designated position, the script program transmits corresponding coordinates into the overall control module through the shared memory, and after the setting is finished, the simulation is started.
In a further embodiment, the overall control module starts to calculate the simulation information required by each simulation subsystem according to the user setting parameters and part of the pre-designed parameters which are input by the combat imagination and the human-computer interface module: converting coordinates into a coordinate system corresponding to signal processing according to a target flight track, an interference track, a next-beat coordinate calculated by a seeker through a guidance law and a known radar coordinate, for example, the seeker signal processing is performed under a missile coordinate system, the seeker and a target coordinate under the geodetic coordinate system are required to be converted into the missile coordinate system by total control, the distance, the azimuth angle, the pitch angle and the radial speed of a target under the missile coordinate system relative to the seeker are calculated, and the distance, the azimuth angle, the pitch angle and the radial speed are sent to an echo generation module through a reflection memory network together with a target measured value and a waveform parameter of a previous beat of the seeker to generate seeker echo data; the interference is similar.
In a further embodiment, the radar and the seeker receive echo data which is synthesized by the overall control module and is superposed with interference, signal processing such as matched filtering, MTD (maximum transmission delay), CFAR (computational fluid dynamics), point trace aggregation, monopulse angle measurement and the like is carried out in an RTX (real time X) environment, data processing time is compressed in a multi-thread core-division computing mode, and the data processing time is fixed within a certain threshold value by utilizing an RTX (real time X) preemptive thread scheduling mechanism, so that the whole simulation system runs in real time;
the overall control module acquires the calculation results of the radar and the seeker and transmits the calculation results to the data fusion center module, and the data fusion center performs data fusion processing from a data level and a signal level by utilizing target measurement information or echo data containing target information acquired from different directions by different detection equipment to obtain a real target position in a complex interference environment; after the overall control module obtains a final measured value of a target, the final measured value is input into Unity3D together with real positions of a seeker, the target and an jammer, target position information measured by each radar and the seeker is input into Unity3D, the Unity3D interface is provided with three visual angles for observing battlefield conditions, all objects in a global visual angle overview scene are drawn by using solid color lines, target tracks obtained by the seeker and the radar through flight tracks and analysis of a data fusion center are drawn by using color beams, missile visual angle lenses move along with the seeker, target visual angle lenses move along with the airplane, a coordinated anti-interference effect can be visually seen on the pictures, and changes of attack and defense situations are dynamically displayed.
In a further embodiment, each distributed simulation node performs real-time data processing and thread scheduling in the RTX system, wherein the echo generation module, the interference generation module, the seeker and the radar module, which need to perform large-batch data processing, are all arranged in the RTX64 environment. The invention realizes the beat synchronization of each module by using an interrupt mechanism, sets an interrupt response process as an RTSS highest priority process, responds to an instruction issued by a general control module in real time and immediately processes related data; the RTX kernel adopts a time slice rotation algorithm, the thread switching time is about below 2 microseconds, the multithreading core division calculation can obtain higher time gain under the RTX environment, meanwhile, the thread priority level is set, the highest priority of the current thread processing period is kept on the premise of no conflict, the signal processing time is basically fixed under the condition that the data volume to be processed and the program time complexity are fixed, the optimization can be carried out to be very small, and the method and the device optimize to the millisecond level.
In a further embodiment, high-speed data transmission between distributed simulation nodes is performed through a VMIC reflective memory local area network.
Specifically, the reflective memory network is built by utilizing a VMIC5565 reflective memory card, the transmission speed reaches 174MB/s, the response time delay is lower than 400ns, the invention develops a driving program aiming at the RTX64 environment and the Windows environment respectively, real-time data interaction can be carried out between the Windows systems, between the RTX systems and between the RTX and the Windows systems, and the data transmission time is millisecond level.
In a further embodiment, a Unity3D is used for simulating a real battlefield environment to build a scene, simulation process parameters are input from the outside, the motion trail of an object in the scene is controlled, and the simulation condition is demonstrated in real time. Specifically, the Unity3D software script adopts c # language, while the main development language adopted by the invention is c + +, where a shared memory mechanism is used to realize real-time data transmission between the c # program and the c + + program.
Preferably, a FixedUpdate () function inherited from a MonoBehavior class is adopted in the Unity3D script program to refresh frames, and the default is fixed to refresh one frame every 0.02 second, which is one order of magnitude shorter than the simulation running time, so that the simulation condition can be demonstrated in real time, and the requirements of real-time visualization of the invention are met.
The working process of the invention is as follows: the Windows interactive interface of the man-machine interface module is set for receiving the setting parameters input by a user in a battle, the setting parameters are sent to the overall control module, the overall control module sends instructions to the interference generation module and the echo generation module after data processing, the two modules receive the instructions under the RTX environment to generate signal data and send the signal data to the seeker and the radar, the radar and the seeker also receive echo data calculation target information under the RTX environment and send the echo data calculation target information to the overall control module, the overall control module transmits the data to the data fusion center, the data are transmitted to the overall control module for data summarization after the data fusion is completed, the Unity3D receives all data shared by the overall control module for scene updating and animation demonstration, and therefore the real-time simulation of the whole cooperative anti-interference process is completed.
The invention can realize real-time single-machine signal processing and online data interaction, respond to low time delay and approach to the real combat effect; multi-node distributed processing can be realized, and the algorithm simulation requirement of cooperative anti-interference of multi-radar electronic detection equipment is met; the simulation condition can be reflected in a three-dimensional animation scene in real time, the whole process of counterwork of the attacking party and the defense party in the modern combat can be visually displayed, and the capability of the system for resisting interference in cooperation is evaluated.
Claims (6)
1. A real-time visual collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies, comprising: the system comprises an interference source generation module, an echo generation module, a plurality of guide heads and a plurality of radars which are respectively arranged in one computer, a combat plan and man-machine interface module, a total control module, a data fusion center and Unity3D scene demonstration equipment which are arranged on the same computer, wherein a reflection memory card is inserted into each computer PCI slot, each computing mechanism is a distributed control node, and all nodes are interconnected through an optical switch to form a reflection memory network in a star structure mode; the fighting scenario and human-computer interface module, the overall control module, the data fusion center and the Unity3D scene demonstration device perform fighting scenario, overall control, data fusion and three-dimensional scene display in a Windows environment, and the interference source generation module and the echo generation module perform interference and echo data generation and signal processing in an RTX environment.
2. The real-time visualization collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies according to claim 1, wherein the combat scenarios are parameter-set with human interface module wording, including setting scene types: ground to air, air to sea, or air to ground; setting an interference type: jamming, spoofing jamming; the number of radar electronic detection devices is set: the number of guidance heads and the number of radar sections; setting waveform parameters of the detection equipment: LFM mode, PD mode.
3. The real-time visualization collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies as claimed in claim 1, wherein the overall control module is configured to calculate seeker echo data and seeker interference data parameters according to parameters inputted from the combat planning and human-machine interface module and simulation information required for calculation of preset parameters, and respectively send the seeker echo data and seeker interference data parameters to the echo generation module and the interference source generation module.
4. The real-time visualization collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC technology according to claim 3, wherein the overall control module is configured to synthesize the echo data generated by the echo generation module and the interference source generation module and the interference data to generate interference-superimposed echo data, and send the interference-superimposed echo data to the radar and the seeker.
5. The real-time visualization collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies according to claim 1, wherein the data fusion center obtains a real target position in a complex interference environment according to target measurement information or echo data containing target information acquired from different directions.
6. The real-time visualization collaborative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies according to claim 1, wherein the radar and seeker receive echo data superimposed with interference, perform matched filtering, MTD, CFAR processing, trace point condensation, monopulse angle measurement in RTX environment, and fix data processing time within a set threshold by using RTX preemptive-based thread scheduling mechanism in a multi-thread core-breaking calculation manner.
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