CN115171465A - Semi-physical armored vehicle driving simulation method and system - Google Patents
Semi-physical armored vehicle driving simulation method and system Download PDFInfo
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- CN115171465A CN115171465A CN202210800527.7A CN202210800527A CN115171465A CN 115171465 A CN115171465 A CN 115171465A CN 202210800527 A CN202210800527 A CN 202210800527A CN 115171465 A CN115171465 A CN 115171465A
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/003—Simulators for teaching or training purposes for military purposes and tactics
Abstract
The invention provides a semi-physical armored vehicle driving simulation method and a system, wherein the method comprises the following steps: establishing a one-to-one semi-physical simulation model of the cab of the armored vehicle, wherein the semi-physical simulation model comprises an internal structure model of the cab of the armored vehicle and structure models of operation buttons; establishing a one-to-one three-dimensional real-scene model of the armored vehicle training field, wherein the three-dimensional real-scene model comprises an armored vehicle entity three-dimensional model, a terrain three-dimensional model for the armored vehicle to run and an environment three-dimensional model for the armored vehicle to fight; and establishing a VR visual armored vehicle simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real scene model and the incidence relation thereof, so as to simulate driving of the semi-physical armored vehicle through the simulated driving system. The invention can solve the defects that the simulated driving of the armored vehicle in the prior art has weak physical feedback capability and cannot provide good simulated driving environment.
Description
Technical Field
The invention relates to the technical field of simulated driving, in particular to a method and a system for simulated driving of a semi-physical armored vehicle.
Background
At present, army is generally equipped with armored vehicles, so that the requirements on the driving operation technology, comprehensive quality and the like of a driver are higher and higher for enabling new equipment to form fighting and ensuring capability as soon as possible, how to enable the driver to quickly and skillfully master the driving operation technology of the new equipment is an inevitable step for carrying out driving operation training on the driver, and during actual installation training, the loss of the new equipment is larger, the service life of the equipment is shortened, the training expenditure is expensive, and the army is easily influenced by weather and fields.
With the rapid development of the VR technology in the prior art, the VR technology is gradually applied to simulated driving, for example, a soldier carries out the simulated driving of an armored vehicle based on a VR system, but the simulated driving of the armored vehicle in the prior art has certain disadvantages, for example, a real feedback feeling cannot be formed when the armored vehicle is collided in the process of the simulated driving.
Therefore, the simulated driving of the armored vehicle in the prior art has weak physical feedback capability and cannot provide a good simulated driving environment.
Disclosure of Invention
Based on this, the invention aims to provide a semi-physical armored vehicle simulated driving method and a system, aiming at solving the defects that the armored vehicle simulated driving in the prior art has weak physical feedback capability and cannot provide good simulated driving environment.
One aspect of the present invention provides a method for simulating driving of a semi-physical armored vehicle, the method comprising:
establishing a one-to-one semi-physical simulation model of the armored vehicle cab, wherein the semi-physical simulation model comprises an internal structure model of the armored vehicle cab and structural models of various operation buttons;
establishing a one-to-one three-dimensional real-scene model of an armored vehicle training field, wherein the three-dimensional real-scene model comprises an armored vehicle entity three-dimensional model, an armored vehicle running terrain three-dimensional model and an armored vehicle fighting environment three-dimensional model, the armored vehicle running terrain three-dimensional model comprises a hilly, alpine and plain terrain three-dimensional model, and the armored vehicle fighting environment three-dimensional model comprises various limit roads and obstacle battlefield environment three-dimensional models;
and establishing a VR visual armored vehicle simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real-scene model and the incidence relation thereof, so as to simulate driving of the semi-physical armored vehicle through the simulated driving system.
According to an aspect of the above technical solution, in the step of establishing a one-to-one semi-physical simulation model of the armored car cab, the semi-physical simulation model further includes:
the six-freedom platform can meet the six-freedom motion of alpha, beta, gamma, X, Y and Z.
According to one aspect of the above technical solution, the step of establishing a VR visual armored car simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real-world model and the association relationship thereof to perform simulated driving on the semi-physical armored car through the simulated driving system further includes:
communicating the cab semi-physical simulation model with the armored car solid three-dimensional model through a preset communication interface by utilizing socket UDP communication;
when the cab semi-physical simulation model is operated, the armored car solid three-dimensional model receives an operation instruction sent by the cab semi-physical simulation model.
According to an aspect of the above technical solution, after the step of operating the cab semi-physical simulation model, the method further comprises:
acquiring the vector acceleration of the cab semi-physical simulation model;
and controlling the armored car solid three-dimensional model to run in the terrain three-dimensional model at equal vector acceleration according to the vector acceleration of the cab semi-physical simulation model.
According to an aspect of the above technical solution, in the step of controlling the armored car solid three-dimensional model to run in the terrain three-dimensional model with equal vector acceleration, the method further comprises:
acquiring real-time vector acceleration and a driving angle of the armored vehicle entity three-dimensional model in the terrain three-dimensional model;
and transmitting the real-time vector acceleration and the driving angle to the cab semi-physical simulation model so as to enable the cab semi-physical simulation model to generate six-degree-of-freedom motion.
According to an aspect of the foregoing technical solution, the method further includes:
acquiring the friction force and the collision volume of the armored vehicle entity three-dimensional model in the battlefield environment three-dimensional model;
and calculating the vector acceleration and the change value of the driving angle of the armored vehicle entity three-dimensional model after collision in the battlefield environment three-dimensional model according to the friction force and the collision volume of the armored vehicle entity three-dimensional model in various battlefield environment three-dimensional models.
According to an aspect of the foregoing technical solution, in the step of transmitting the real-time vector acceleration and the driving angle to the cab semi-physical simulation model so that the cab semi-physical simulation model generates a motion with six degrees of freedom, the method further includes:
converting the real-time vector acceleration and the driving angle according to a preset dynamic algorithm;
and controlling the cab semi-physical simulation model to simulate and send out real physical feedback according to the converted data.
Another aspect of the present invention also provides a system for simulating driving of a semi-physical armored vehicle, including:
the first model establishing module is used for establishing a one-to-one semi-physical simulation model of the armored vehicle cab, and the semi-physical simulation model comprises an internal structure model of the armored vehicle cab and structure models of operation buttons;
the second model establishing module is used for establishing a one-to-one three-dimensional real scene model of an armored vehicle training field, wherein the three-dimensional real scene model comprises an armored vehicle entity three-dimensional model, an armored vehicle running terrain three-dimensional model and an armored vehicle fighting environment three-dimensional model, the armored vehicle running terrain three-dimensional model comprises a hilly, alpine and flat terrain three-dimensional model, and the armored vehicle fighting environment three-dimensional model comprises various limit roads and obstacle battlefield environment three-dimensional models;
and the simulated driving system generation module is used for establishing a VR visual armored vehicle simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real scene model and the incidence relation thereof so as to simulate driving of the semi-physical armored vehicle through the simulated driving system.
Compared with the prior art, the semi-physical armored vehicle simulated driving method and system shown in the embodiment have the advantages that:
by establishing the semi-physical simulation model of the armored car cab, a soldier can control the armored car in the three-dimensional real scene model to move in the semi-physical simulation model, and physical feedback from the three-dimensional real scene model is fed back to the semi-physical simulation model in real time in the moving process of the armored car, so that the simulated driving of the armored car is realized, and therefore training through the real armored car is not needed any more, financial resources and material resources are effectively saved, and the armored car cab is safer; simultaneously, compare in prior art, the physics feedback of simulation driving is stronger, and the authenticity is higher, and the training effect that produces is better.
Drawings
Fig. 1 is a schematic flow chart of a simulated driving method of a semi-physical armored vehicle in a first embodiment of the present invention;
FIG. 2 is a block diagram of a simulated driving system of a semi-physical armored vehicle in a third embodiment of the present invention;
the following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Example one
Referring to fig. 1, a first embodiment of the present invention provides a method for simulating driving of a semi-physical armored vehicle, which includes steps S10 to S30:
step S10, establishing a one-to-one semi-physical simulation model of the armored vehicle cab, wherein the semi-physical simulation model comprises an internal structure model of the armored vehicle cab and structure models of various operation buttons;
specifically, the semi-physical simulation model of the armored vehicle cab comprises a structural model corresponding to the internal structure of the armored vehicle cab and structural models of various operation buttons; for example, the seat, the steering wheel, the shifting mechanism and the function buttons in the cab of the armored vehicle are in communication connection and telecommunication connection with the corresponding control unit, so that the armored vehicle can perform corresponding work by controlling the seat, the steering wheel, the shifting mechanism and the function buttons.
Step S20, establishing a one-to-one three-dimensional real scene model of an armored vehicle training field, wherein the three-dimensional real scene model comprises an armored vehicle entity three-dimensional model, an armored vehicle running terrain three-dimensional model and an armored vehicle fighting environment three-dimensional model, the armored vehicle running terrain three-dimensional model comprises a hilly, alpine and plain terrain three-dimensional model, and the armored vehicle fighting environment three-dimensional model comprises various limit roads and obstacle battlefield environment three-dimensional models;
specifically, the three-dimensional real-scene model of the armored vehicle training field comprises an armored vehicle solid three-dimensional model, a armored vehicle running terrain three-dimensional model and an armored vehicle fighting environment three-dimensional model. The three-dimensional terrain model for the armored vehicle to run comprises a hilly terrain three-dimensional model, an alpine terrain three-dimensional model, a plain terrain three-dimensional model and other terrain environments in which the armored vehicle can run in a real environment, and the three-dimensional environment model for the armored vehicle to fight comprises a battlefield environment three-dimensional model of various restricted roads (such as steep roads) and a battlefield environment three-dimensional model of obstacles (such as jungle environments).
In this embodiment, the semi-physical simulation model of the armored car cab is used for a soldier to simulate and operate the armored car, and the soldier obtains the simulation environment of the armored car in the three-dimensional real-scene model of the armored car training field in a VR simulation mode through VR equipment.
And S30, establishing a VR visual armored vehicle simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real scene model and the incidence relation thereof, so as to simulate driving of the semi-physical armored vehicle through the simulated driving system.
Specifically, according to the simulation environment of the armored vehicle in the three-dimensional real-scene model, the armored vehicle simulation driving system is established based on the virtual simulation technology and the virtual reality technology and has real-time physical feedback, and the physical feedback comprises but is not limited to vibration sense during the driving process of the armored vehicle, road feel from the terrain three-dimensional model during the driving process of the armored vehicle and attack sense of the armored vehicle under attack during the fighting process.
In specific simulated driving, a soldier simulates and controls the movement of an armored car in various terrains of a three-dimensional real scene model in a semi-physical simulation model corresponding to an armored car cab, when the armored car moves in the three-dimensional real scene model, the semi-physical simulation model receives physical feedback from the three-dimensional real scene model, for example, when the armored car moves to a jungle road, various swings and vibrations are generated, and the semi-physical simulation model transmits the physical feedback to the soldier in real time, so that the simulated driving of the armored car by the soldier is realized.
Compared with the prior art, adopt the armoured vehicle simulation driving method that shows among this embodiment, beneficial effect lies in:
by establishing the semi-physical simulation model of the armored car cab, a soldier can simulate and control the armored car in the three-dimensional real-scene model to move in the semi-physical simulation model, and in the moving process of the armored car, physical feedback from the three-dimensional real-scene model is fed back to the semi-physical simulation model in real time and transmitted to the soldier in real time, so that the simulated driving of the soldier on the armored car is realized, and therefore training through the real armored car is not needed any more, financial resources and material resources are effectively saved, and meanwhile, the simulated driving of the semi-physical armored car is safer.
Example two
The second embodiment of the invention provides a semi-physical armored vehicle simulated driving method, wherein in the method shown in the implementation:
in this embodiment, in the step of establishing a one-to-one semi-physical simulation model of the cab of the armored vehicle, the semi-physical simulation model further includes:
the six-freedom platform can meet the six-freedom motion of alpha, beta, gamma, X, Y and Z.
That is, the semi-physical simulation model has six degrees of freedom of α, β, γ, X, Y, and Z, i.e., the degree of freedom of movement in the directions of three orthogonal coordinate axes X, Y, and Z and the degree of freedom of rotation around the three coordinate axes, so that the semi-physical simulation model can move in the three-dimensional real-scene model, and simultaneously can correspondingly transmit the shaking or swinging generated by the movement to the fighter.
In this embodiment, the step of establishing a VR visual armored vehicle simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real-scene model and the association relationship thereof so as to perform simulated driving on the semi-physical armored vehicle through the simulated driving system further includes:
communicating the cab semi-physical simulation model with the armored car solid three-dimensional model through a preset communication interface by using socket UDP communication;
when the cab semi-physical simulation model is operated, the armored car solid three-dimensional model receives an operation instruction sent by the cab semi-physical simulation model.
Specifically, the cab semi-physical simulation model has a certain physical structure, such as a steering wheel, an operation key and the like, when a fighter operates the steering wheel to rotate, the cab semi-physical simulation model sends a steering operation instruction, and after receiving the steering operation instruction, the armored car physical three-dimensional model correspondingly steers in a terrain three-dimensional model or a battlefield three-dimensional model of the three-dimensional real scene model; namely, the fighter can operate in the cab semi-physical simulation model, and the armored car solid three-dimensional model can correspondingly move in the terrain three-dimensional model in which the armored car runs and the environment three-dimensional model in which the armored car fights.
In this embodiment, after the step of operating the cab semi-physical simulation model, the method further comprises:
acquiring the vector acceleration of the cab semi-physical simulation model;
and controlling the armored car solid three-dimensional model to run in the terrain three-dimensional model at equal vector acceleration according to the vector acceleration of the cab semi-physical simulation model.
For example, when a soldier accelerates in the cab semi-physical simulation model, the cab semi-physical simulation model moves correspondingly and generates a certain vector acceleration, and the vector acceleration is obtained through a corresponding sensor, so that the armored car solid three-dimensional model can be controlled to run in the terrain three-dimensional model at the same vector acceleration based on the vector acceleration of the cab semi-physical simulation model.
For example, when a fighter controls the cab semi-physical simulation model to accelerate from 0km \ h to 50km \, the cab semi-physical simulation model generates a vector acceleration of 1G, and after the sensor acquires the vector acceleration, the armored car solid three-dimensional model moves in the terrain three-dimensional model correspondingly at the vector acceleration of 1G to realize the simulated driving of the armored car.
In this embodiment, in the step of controlling the armored car solid three-dimensional model to run in the terrain three-dimensional model with equal vector acceleration, the method further comprises:
acquiring real-time vector acceleration and a driving angle of the armored car solid three-dimensional model in the terrain three-dimensional model;
and transmitting the real-time vector acceleration and the driving angle to the cab semi-physical simulation model so as to enable the cab semi-physical simulation model to generate six-degree-of-freedom motion.
Specifically, after the armored car three-dimensional model moves with the vector acceleration corresponding to the cab semi-physical simulation model, the real-time vector acceleration and the driving angle of the armored car three-dimensional model in the terrain three-dimensional model are obtained, the real-time vector acceleration and the driving angle of the armored car three-dimensional model in the terrain three-dimensional model are fed back to the system in a signal form, and the system transmits the real-time vector acceleration and the driving angle to the cab semi-physical simulation model, so that the cab semi-physical simulation model can move correspondingly based on the real-time vector acceleration and the driving angle of the armored car three-dimensional model, for example, steering is performed in the acceleration process, the body of a fighter is driven to swing in a certain range, and the authenticity of simulated driving of the armored car is improved.
In this embodiment, the method further includes:
acquiring the friction force and the collision volume of the armored vehicle entity three-dimensional model in the battlefield environment three-dimensional model;
and calculating the vector acceleration and the change value of the driving angle of the armored vehicle entity three-dimensional model after collision in the battlefield environment three-dimensional model according to the friction force and the collision volume of the armored vehicle entity three-dimensional model in various battlefield environment three-dimensional models.
In particular, when the simulated driving scene of the armored vehicle is provided by a three-dimensional model of a battlefield environment, it is easy to understand that the battlefield environment is complex, such as a jungle environment, and the trafficability is not strong; when a soldier controls the armored car solid three-dimensional model to carry out simulated driving in the battlefield environment three-dimensional model through the cab semi-physical simulation model, the armored car solid three-dimensional model is easy to collide with obstacles in the battlefield environment, for example, the armored car solid three-dimensional model is scratched with a tree model when the speed is high, so that the speed of the armored car solid three-dimensional model is suddenly reduced, and the driving direction is changed to a certain extent; by obtaining the friction force and the collision volume of the three-dimensional model of the battlefield environment in the three-dimensional model of the terrain, the change values of the vector acceleration and the driving angle of the three-dimensional model of the armored vehicle entity after collision in the three-dimensional model of the battlefield environment according to the friction force and the collision volume or the collision part can be fed back to the system, and the system transmits the change values to the semi-physical simulation model of the cab so as to control the corresponding motion of the semi-physical simulation model of the cab in six degrees of freedom.
In this embodiment, in the step of transmitting the real-time vector acceleration and the driving angle to the cab semi-physical simulation model to make the cab semi-physical simulation model generate a six-degree-of-freedom motion, the method further includes:
converting the real-time vector acceleration and the driving angle according to a preset dynamic algorithm;
wherein the predetermined kinetic algorithm is selected from the group consisting of a monte carlo algorithm, a newton euler (inverse) kinetic algorithm, and other related kinetic algorithms;
and controlling the cab semi-physical simulation model to simulate and send out real physical feedback according to the converted data.
Compared with the prior art, adopt the armoured vehicle simulation driving method that shows among this embodiment, beneficial effect lies in:
by establishing the semi-physical simulation model of the armored vehicle cab, a soldier can control the armored vehicle in the three-dimensional real scene model to move in the semi-physical simulation model, and physical feedback from the three-dimensional real scene model is fed back to the semi-physical simulation model in real time in the moving process of the armored vehicle, so that the simulated driving of the armored vehicle is realized, and therefore training through the real armored vehicle is not needed any more, the financial resources and the material resources are effectively saved, and the armored vehicle cab is safer; simultaneously, compare in prior art, the physics feedback of simulation driving is stronger, and the authenticity is higher, and the training effect that produces is better.
EXAMPLE III
Referring to fig. 2, a third embodiment of the present invention provides a simulated driving system for a semi-physical armored vehicle, which includes a first model building module 10, a second model building module 20, and a simulated driving system generating module 30.
The first model building module 10 is used for building a one-to-one semi-physical simulation model of the armored vehicle cab, wherein the semi-physical simulation model comprises an internal structure model of the armored vehicle cab and structure models of operation buttons;
specifically, the semi-physical simulation model of the armored vehicle cab comprises a structural model corresponding to the internal structure of the armored vehicle cab and structural models of various operation buttons; for example, the seat, the steering wheel, the gear shifting mechanism and the function buttons in the cab of the armored vehicle are all in communication connection and telecommunication connection with the corresponding control unit, so that the armored vehicle can perform corresponding work by controlling the seat, the steering wheel, the gear shifting mechanism and the function buttons.
Further, the second model building module 20 is configured to build a one-to-one three-dimensional real scene model of the armored car training field, where the three-dimensional real scene model includes an armored car solid three-dimensional model, an armored car running terrain three-dimensional model, and an armored car battle environment three-dimensional model, the armored car running terrain three-dimensional model includes a hilly, alpine, and plain terrain three-dimensional models, and the armored car battle environment three-dimensional model includes various restricted roads and obstacle battlefield environment three-dimensional models;
specifically, the three-dimensional real-scene model of the armored car training field comprises an armored car solid three-dimensional model, a terrain three-dimensional model of the armored car running and an environment three-dimensional model of the armored car fighting. The three-dimensional models of the terrain in which the armored vehicles run comprise a three-dimensional model of hilly terrain, a three-dimensional model of alpine terrain, a three-dimensional model of plain terrain and other terrain environments in which the armored vehicles may run in real environments, and the three-dimensional models of the environment in which the armored vehicles fight comprise three-dimensional models of battlefield environments of various restricted roads (such as steep slopes) and three-dimensional models of battlefield environments of obstacles (such as jungle environments).
In this embodiment, the semi-physical simulation model of the armored car cab is used for a soldier to simulate and operate the armored car, and the soldier obtains the simulation environment of the armored car in the three-dimensional real-scene model of the armored car training field in a VR simulation mode through VR equipment.
Further, the driving simulation system generating module 30 is configured to establish a VR visual armored vehicle driving simulation system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real-scene model and the association relationship thereof, so as to perform driving simulation on the semi-physical armored vehicle through the driving simulation system.
Specifically, according to the simulation environment of the armored vehicle in the three-dimensional real-scene model, the armored vehicle simulation driving system is established based on the virtual simulation technology and the virtual reality technology and has real-time physical feedback, wherein the physical feedback comprises but is not limited to vibration sense during the driving process of the armored vehicle, road sense from the terrain three-dimensional model during the driving process of the armored vehicle and attack sense of the armored vehicle under attack during the operation process.
In specific simulated driving, a soldier simulates and controls movement of an armored vehicle in various terrains of a three-dimensional real scene model in a semi-physical simulation model corresponding to an armored vehicle cab, when the soldier moves in the three-dimensional real scene model, the semi-physical simulation model receives physical feedback from the three-dimensional real scene model, for example, when the soldier walks to a jungle road, various swinging and vibration are generated, and the semi-physical simulation model transmits the physical feedback to the soldier in real time so as to realize simulated driving of the armored vehicle by the soldier.
Compared with the prior art, adopt armored car simulation driving system shown among this embodiment, beneficial effect lies in:
by establishing the semi-physical simulation model of the armored car cab, a soldier can simulate and control the armored car in the three-dimensional real-scene model to move in the semi-physical simulation model, and in the moving process of the armored car, physical feedback from the three-dimensional real-scene model is fed back to the semi-physical simulation model in real time and transmitted to the soldier in real time, so that the simulated driving of the soldier on the armored car is realized, and therefore training through the real armored car is not needed any more, financial resources and material resources are effectively saved, and meanwhile, the simulated driving of the semi-physical armored car is safer.
Those of skill in the art will understand that the logic and/or steps illustrated in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (8)
1. A semi-physical armored vehicle driving simulation method is characterized by comprising the following steps:
establishing a one-to-one semi-physical simulation model of the cab of the armored vehicle, wherein the semi-physical simulation model comprises an internal structure model of the cab of the armored vehicle and structure models of operation buttons;
establishing a one-to-one three-dimensional real-scene model of an armored vehicle training field, wherein the three-dimensional real-scene model comprises an armored vehicle entity three-dimensional model, an armored vehicle running terrain three-dimensional model and an armored vehicle fighting environment three-dimensional model, the armored vehicle running terrain three-dimensional model comprises a hilly, alpine and plain terrain three-dimensional model, and the armored vehicle fighting environment three-dimensional model comprises various limit roads and obstacle battlefield environment three-dimensional models;
and establishing a VR visual armored vehicle simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real scene model and the incidence relation thereof, so as to simulate driving of the semi-physical armored vehicle through the simulated driving system.
2. The method for simulating driving of a semi-physical armored vehicle according to claim 1, wherein in the step of establishing a one-to-one semi-physical simulation model of the cab of the armored vehicle, the semi-physical simulation model further comprises:
the six-freedom platform can meet the six-freedom motion of alpha, beta, gamma, X, Y and Z.
3. The method for simulating driving of a semi-physical armored vehicle according to claim 1, wherein in the step of establishing a VR visual armored vehicle simulation driving system with real-time physical feedback based on virtual simulation technology and virtual reality technology according to the three-dimensional real-world model and its association relationship, so as to simulate driving of the semi-physical armored vehicle by the simulation driving system, further comprising:
communicating the cab semi-physical simulation model with the armored car solid three-dimensional model through a preset communication interface by using socket UDP communication;
when the cab semi-physical simulation model is operated, the armored car solid three-dimensional model receives an operation instruction sent by the cab semi-physical simulation model.
4. The semi-physical armored vehicle simulated driving method according to claim 3, wherein after the step of operating the cab semi-physical simulation model, the method further comprises:
acquiring the vector acceleration of the cab semi-physical simulation model;
and controlling the armored car solid three-dimensional model to run in the terrain three-dimensional model at equal vector acceleration according to the vector acceleration of the cab semi-physical simulation model.
5. The method for simulating the driving of the semi-physical armored vehicle as claimed in claim 4, wherein in the step of controlling the physical three-dimensional model of the armored vehicle to run in the terrain three-dimensional model with equal vector acceleration, further comprising:
acquiring real-time vector acceleration and a driving angle of the armored vehicle entity three-dimensional model in the terrain three-dimensional model;
and transmitting the real-time vector acceleration and the driving angle to the cab semi-physical simulation model so as to enable the cab semi-physical simulation model to generate six-degree-of-freedom motion.
6. The simulated driving method of the semi-physical armored vehicle of claim 5, further comprising:
acquiring the friction force and the collision volume of the armored vehicle entity three-dimensional model in the battlefield environment three-dimensional model;
and calculating the vector acceleration and the change value of the driving angle of the armored vehicle entity three-dimensional model after collision in the battlefield environment three-dimensional model according to the friction force and the collision volume of the armored vehicle entity three-dimensional model in various battlefield environment three-dimensional models.
7. The simulated driving method of a semi-physical armored vehicle as claimed in claim 6, wherein in the step of transmitting the real-time vector acceleration and the driving angle to the cab semi-physical simulation model so as to make the cab semi-physical simulation model generate six-degree-of-freedom motion, further comprising:
converting the real-time vector acceleration and the driving angle according to a preset dynamic algorithm;
and controlling the cab semi-physical simulation model to simulate and send out real physical feedback according to the converted data.
8. The utility model provides a semi-physical armored vehicle simulation driving system which characterized in that, the system includes:
the first model establishing module is used for establishing a one-to-one semi-physical simulation model of the armored vehicle cab, and the semi-physical simulation model comprises an internal structure model of the armored vehicle cab and structure models of operation buttons;
the second model establishing module is used for establishing a one-to-one three-dimensional real scene model of an armored vehicle training field, wherein the three-dimensional real scene model comprises an armored vehicle entity three-dimensional model, an armored vehicle running terrain three-dimensional model and an armored vehicle fighting environment three-dimensional model, the armored vehicle running terrain three-dimensional model comprises a hilly, alpine and flat terrain three-dimensional model, and the armored vehicle fighting environment three-dimensional model comprises various limit roads and obstacle battlefield environment three-dimensional models;
and the simulated driving system generation module is used for establishing a VR visual armored vehicle simulated driving system with real-time physical feedback based on a virtual simulation technology and a virtual reality technology according to the three-dimensional real-scene model and the incidence relation thereof so as to simulate driving of the semi-physical armored vehicle through the simulated driving system.
Priority Applications (1)
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| KR20140112811A (en) * | 2013-03-14 | 2014-09-24 | 국방과학연구소 | Combat effect analysis system under V-C interoperability, and operation method of the same |
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| CN112221117A (en) * | 2020-10-12 | 2021-01-15 | 江苏徐工工程机械研究院有限公司 | Driving simulation platform and method |
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| KR20140112811A (en) * | 2013-03-14 | 2014-09-24 | 국방과학연구소 | Combat effect analysis system under V-C interoperability, and operation method of the same |
| CN204066460U (en) * | 2014-07-31 | 2014-12-31 | 中国人民解放军装甲兵工程学院 | A kind of Vehicle De L'Avant Blinde By Creussot driving training simulator |
| CN107016894A (en) * | 2017-05-12 | 2017-08-04 | 中国人民武装警察部队乌鲁木齐指挥学院 | Panzer simulated training system and method |
| CN210402798U (en) * | 2019-07-01 | 2020-04-24 | 徐州九鼎机电总厂 | Infantry combat tank single-vehicle comprehensive training simulation system |
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