CN115880973B - Flight simulator view generation method, device and equipment of pseudo spherical coordinate system - Google Patents
Flight simulator view generation method, device and equipment of pseudo spherical coordinate system Download PDFInfo
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Abstract
The invention relates to a method, a device and equipment for generating a visual scene of a flight simulator of a pseudo-spherical coordinate system, wherein the pseudo-spherical coordinate system is firstly obtained based on a WGS84 coordinate system of the flight simulator and an ink card bracket projection; then dynamically modifying the three-dimensional positions of the flight simulator and other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system; and repeatedly modifying to form a flight simulator view based on the pseudo-spherical coordinate system. According to the invention, a scaling factor is established between the WGS84 coordinate system and the ink card support projection, the WGS84 coordinate system of the vision is converted into a pseudo-spherical coordinate system, and the vision difference between the ink card support projection distance and the real earth is made up visually, so that a pilot can estimate the self-height according to the scene picture of the flight simulator and the actual experience more accurately in the flight process of the flight simulator; the pilot can better reference scenes around the flight simulator to guide the flight by dynamically adjusting the terrain heights of different longitude and latitude areas according to the change of the terrain according to the pseudo-spherical coordinate system.
Description
Technical Field
The invention belongs to the technical field of flight simulators, and particularly relates to a method, a device and equipment for generating a visual scene of a flight simulator by a pseudo-spherical coordinate system.
Background
The flight simulator vision is a main subsystem of the flight simulation system, and the vision simulator provides the real world external cockpit vision for the pilot during flight training, and the figure generation and display quality of the vision simulator directly influences the effect of the flight training. The view comprises a model scene required by flight simulation, including simulation of the position and the view angle of a terrain, an airport and a flight simulator in the view.
The flight simulator vision system requires modeling of a wide range of views, and in general, the vision coordinate system can be modeled using two methods, the earth-based flat plate and the WGS 84-based coordinate system.
The method has the advantages that the method uses a flat earth coordinate system, is simple to calculate, uses ink card support projection, and can conveniently realize the coverage of the scene guard. The curvature of the earth is ignored by the flat earth, the straight line distance is used for replacing the large circle distance of the real earth, and in the small-scale scene calculation process, the scene size is negligible compared with the curvature radius of the earth, so that the calculation accuracy is sufficient; however, the view scene used by the flight simulator often needs to span multiple cities and countries, the scene scale is very large, coordinate calculation errors caused by neglecting the curvature radius of the earth are not negligible, the view point of a pilot can be influenced obviously, and correction is needed. In order to solve the problem, the current general solution is to establish a WGS84 spherical coordinate system, but the spherical coordinate system has a substantial change on the model-related computational complexity, besides, the existing special effect plug-ins such as various weather, topography, cloud, dynamic ocean and the like generally only support the flat earth, and the use of the spherical coordinate system also leads to the need of redevelopment of the plug-ins in the modeling process of the vision of the simulation machine so as to be suitable for the spherical coordinate system, so that the workload is huge.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a method, a device and equipment for generating a visual scene of a flight simulator of a pseudo-spherical coordinate system, which are used for overcoming the defects existing at present.
A method for generating a visual scene of a flight simulator of a pseudo-spherical coordinate system, the method comprising the steps of:
s1, obtaining a pseudo-spherical coordinate system based on a WGS84 coordinate system and an ink card bracket projection of a flight simulator;
s2, dynamically modifying the three-dimensional position of the flight simulator in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
s3, dynamically modifying three-dimensional positions of other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
s4, repeating the steps S2-S3 to form a flight simulator view based on the pseudo-spherical coordinate system.
In aspects and any one of the possible implementations as described above, there is further provided an implementation, S1 includes:
s11, obtaining the latitude of the aircraft under a WGS84 coordinate system according to the ink card bracket projection of the flight simulator;
s12, obtaining a scaling factor according to the latitude, wherein the scaling factor is used for scaling the height of the flight simulator under the projection of the ink card support to obtain a scaling height;
s13, obtaining the coordinates of any point of the pseudo-spherical coordinate system according to the Mokato projection and the zoom height.
In the aspect and any possible implementation manner as described above, there is further provided an implementation manner, where the latitude in S11 is determined by the following formula:
In the aspect and any possible implementation manner as described above, there is further provided an implementation manner, where the scaling factor in S12 is determined by the following formula:
the zoom height is determined by the following formula:
wherein->
For the altitude of any point known under the WGS84 coordinate system, +.>
Is the height above the pseudo-sphere.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where the coordinates of any point of the pseudo-spherical coordinate system are determined by the following formula:
Aspects and any one of the possible implementations as described above, further providing an implementation, the abscissa
Is determined by the following formula:
Aspects and any one of the possible implementations as described above, further providing an implementation, the ordinate
Is determined by the following formula:
Aspects and any one of the possible implementations as described above, further providing an implementation, the other objects in S3 include terrain.
The invention also provides a device for generating the vision of the flight simulator of the pseudo-spherical coordinate system, which is used for realizing the method and comprises the following steps:
the pseudo-spherical generating module is used for obtaining a pseudo-spherical coordinate system based on a WGS84 coordinate system of the flight simulator and the ink card bracket projection;
the first dynamic modification module is used for dynamically modifying the three-dimensional position of the flight simulator in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
the second dynamic modification module is used for dynamically modifying the three-dimensional positions of other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
and the view generation module is used for forming a flight simulator view based on the pseudo-spherical coordinate system according to the modification results of the first dynamic modification module and the second dynamic modification module.
The invention also provides a computer device comprising a processor and a memory in which a computer program is stored, the computer program being loaded and executed by the processor to implement the method.
The beneficial effects of the invention are that
Compared with the prior art, the invention has the following beneficial effects: according to the invention, a scaling factor is established between the WGS84 coordinate system and the ink card support projection, the WGS84 coordinate system of the vision is converted into a pseudo-spherical coordinate system, and the vision difference between the ink card support projection distance and the real earth is made up visually, so that a pilot can estimate the self-height according to the scene picture of the flight simulator and the actual experience more accurately in the flight process of the flight simulator; by changing the terrain according to the pseudo-spherical coordinate system and dynamically adjusting the terrain heights in areas with different longitudes and latitudes, compared with the original visual terrain, the modified terrain is similar to the actual flight condition, and a pilot can better refer to the scene around the flight simulator to guide the flight.
Drawings
FIG. 1 is a diagram illustrating a height difference between a flat map and a pseudo-spherical scaled image according to an embodiment of the present invention;
FIG. 2 is a graph showing the effect of the invention on adjusting the altitude of a flight simulator;
fig. 3 is a flow chart of the method of the present invention.
Detailed Description
For a better understanding of the present invention, the present disclosure includes, but is not limited to, the following detailed description, and similar techniques and methods should be considered as falling within the scope of the present protection. In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
It should be understood that the described embodiments of the invention are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 3, the method for generating the view of the flight simulator of the pseudo-spherical coordinate system comprises the following steps:
s1, obtaining a pseudo-spherical coordinate system based on a WGS84 coordinate system and an ink card bracket projection of a flight simulator;
s2, dynamically modifying the three-dimensional position of the flight simulator in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
s3, dynamically modifying three-dimensional positions of other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
s4, repeating the steps S2-S3 to form a flight simulator view based on the pseudo-spherical coordinate system.
The pseudo-spherical coordinate system is a coordinate system formed by adding a height coordinate axis to a plane where the ink-card support projection is located on the basis of the ink-card support projection to form a three-dimensional space coordinate system, naming the added axis as a height axis, wherein the height axis changes along with the scaling errors of the ink-card support projection in different longitudes and latitudes, and compensating the visual errors of the ink-card support projection in different latitude areas through the changes of the heights of the different longitudes and latitudes.
The specific operation process of the invention is as follows:
step one: a pseudo spherical coordinate system is obtained based on a WGS84 coordinate system and an ink card bracket projection of a flight simulator;
in order to conveniently simulate the flight scene of an aircraft in the real world in the visual scene, the earth projection of the ink card support is often used, but the ground scenes in different latitude areas are zoomed after the ink card support is introduced, so that the altitude of the flight simulator in the visual angle is not equal to that of the real flight.
The flying simulator is driven by real-time WGS84 coordinates given by real flying data, wherein the WGS84 coordinate system is a coordinate system established according to an ellipsoid of the earth, no error exists in distance at any position, and the distance of the ink-card support coordinate is gradually lengthened along with the rising of the latitude, so that the latitude of the flying simulator under the WGS84 coordinate system is obtained according to the ink-card support projection of the flying simulator; and obtaining the coordinates of any point of the pseudo-spherical coordinate system according to the Mokato projection and the zoom height.
The specific operation process is as follows:
1. the latitude in the WGS84 coordinate system is obtained from the mercator projection.
In the above formula (1)
The coordinate of a point k in the X-axis direction is selected for the plane of the Mokatuo projection, which is a known quantity, the variable +.>
For the corresponding latitude of the k-point in the WGS84 coordinate system, +.>
The circumference ratio is 3.14, r is the earth radius, and 6378245.0 is taken.
Wherein,,
the coordinate of a point k in the Y-axis direction is selected from the plane of the ink card support projection, the coordinate is a known quantity, the degreY is the included angle between the connecting line of the point k corresponding to the point on the earth to the earth geocenter and the plane of the primary meridian, and the coordinate is the coordinate of the point k in the Y-axis direction>
The circumference ratio is 3.14, and r is the earth radius.
In the above
Longitude in WGS84 coordinate system for selected k-point, +.>
Is the circumference ratio of 3.14, atan is the arctangent function, exp is the exponential function, and the natural number e is taken as the base.
2. And calculating the height scaling factors under unit distances of different longitudes and latitudes, wherein the scaling factors are used for scaling the heights of the flight simulator under the ink card support projection to obtain scaling heights.
Firstly, calculating a scaling factor by using the latitude corresponding to the unit distance, wherein the result is as follows:
where Ratio is the scaling factor,
from the above formula (3) Obtained (I)>
For a circumference ratio of 3.14, cos is a triangular cosine function.
3. Then solving the zoom height, which is obtained by the following formula (5)
Finally, the coordinates of each point of the pseudo-spherical coordinate system are obtained by the formula (6):
wherein,,
for the abscissa and ordinate of the flight simulator under the pseudo-spherical coordinate system in the view,/->
For the abscissa of the flight simulator under the plane of the projection of the ink card holder, +.>
Is the ordinate of the flight simulator under the plane of the projection of the ink card support.
Step two: the three-dimensional position of the flight simulator in the WGS84 coordinate system view is dynamically modified according to the pseudo-spherical coordinate system.
According to the calculated pseudo-spherical coordinate system, a coordinate formula of the pseudo-spherical coordinate system is obtained, and the three-dimensional position of the scene where the flight simulator is located is dynamically modified according to the pseudo-spherical coordinate formula, namely the original scene is based on the WGS84 coordinate system, the pseudo-spherical coordinate system established by the invention modifies the scene into the scene based on the pseudo-spherical system, and the three-dimensional position of the flight simulator is dynamically modified in advance to be modified into the three-dimensional position based on the pseudo-spherical coordinate system.
When the flight simulator flies in the three-dimensional scene, the position of the flight simulator is determined by the longitude and latitude of the WGS84 and the horizontal plane height, so that the actual coordinate position of the flight simulator in the actual three-dimensional scene is obtained by processing the flight position data of the flight simulator.
Abscissa in pseudo-spherical coordinate system
The result is obtained by the following formula (7):
in the above-mentioned method, the step of,
the current longitude value in WGS84 coordinate system for the flight simulator is a known quantity, +.>
The circumference ratio was 3.14.
The ordinate in the pseudo-spherical coordinate system is obtained by the following equation (8):
in the above-mentioned method, the step of,
for the latitude of the current flight simulator in the WGS84 coordinate system, r is the radius 6378245.0 of the earth, log is the logarithm based on the natural number e, tan is the tangent function, and>
the circumference ratio was 3.14.
Is obtained by the calculation of the formulas (7) - (8)
And->
The value of (2) is obtained from the equation (6)
And obtaining the coordinates of each point in the pseudo-spherical coordinate system.
According to the formulas (6) - (8), after the position of the view of the flight simulator under the pseudo-spherical coordinate system is calculated, the position of the flight simulator is reset, and in the middle-high latitude area, the height of the view of the flight simulator after modification is obviously higher, as shown in fig. 2, the left side is the altitude under the WGS84 coordinate system before modification, the right side is the height under the pseudo-spherical coordinate system, and the mountain top can be seen in the right side view under the same pitching angle. Under the pseudo spherical coordinate system, the flight simulator height is scaled and modified, the heights before and after modification are compared, and the modified height is closer to the visual angle picture of the real aircraft.
Step three: and dynamically modifying the three-dimensional positions of other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system, namely adjusting the proportion of the other objects in the view except for the flight simulator.
The terrain may also be lower in height than the actual height due to the projection of the terrain using the planar ink cartridges, and may also need to be modified in the same manner. Other objects in the view include terrains, the terrains are dynamically loaded in the form of a terrains tile, three-dimensional scene coordinates and mercator coordinates in the view have only translational relation, in the process that the terrains tile is added into the three-dimensional scene of the view, WGS84 coordinates of the tile are converted into coordinates under a pseudo-spherical coordinate system, the distance scaling in the height axis direction is carried out on the current tile according to formulas (1) - (5) in the previous steps, and the three-dimensional grid point height of each terrains tile is readjusted in the process that the terrains tile is loaded into the view. The height of the modified terrain is slightly higher than the height of the planar cutterhead terrain before modification, that is to say, the terrain is slightly higher than the original height in contrast to the height adjustment of the flight simulator, as shown in fig. 1, (1) the mountain bottom map is the terrain height before the scaling ratio is modified, (2) the grid is the grid of the terrain after the scaling is modified, and the grid is obtained by comparison, and (2) the terrain height is higher than the terrain height of the original cutterhead of (1).
S4, repeating the steps S2-S3 to form a flight simulator view based on the pseudo-spherical coordinate system.
The invention establishes a scaling factor between the WGS84 coordinate system and the ink-card support projection, and makes up the visual difference between the ink-card support projection distance and the real earth visually. For objects in a scene, firstly acquiring scene coordinates of the objects, wherein the coordinates of the objects in the scene are based on a WGS84 coordinate system, so that three-dimensional positions of the objects in the WGS84 coordinate system view are modified to be based on coordinate representation under a pseudo-spherical coordinate system, and repeatedly modifying three-dimensional positions of a flight simulator and other objects in the flight view to finally obtain the flight simulator view based on the pseudo-spherical coordinate system.
The invention also provides a device for generating the vision of the flight simulator based on the pseudo-spherical coordinate system, which is used for realizing the method of the invention, and comprises the following modules:
the pseudo-spherical generating module is used for obtaining a pseudo-spherical coordinate system based on a WGS84 coordinate system of the flight simulator and the ink card bracket projection;
the first dynamic modification module is used for dynamically modifying the three-dimensional position of the flight simulator in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
the second dynamic modification module is used for dynamically modifying the three-dimensional positions of other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
and the view generation module is used for forming a flight simulator view based on the pseudo-spherical coordinate system according to the modification results of the first dynamic modification module and the second dynamic modification module.
The invention also provides a computer device comprising a processor and a memory in which a computer program is stored, which computer program is loaded and executed by the processor to implement the method according to the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as expressed herein, either as a result of the foregoing teachings or as a result of the knowledge or technology of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (9)
1. A method for generating a visual scene of a flight simulator of a pseudo-spherical coordinate system, the method comprising the steps of:
s1, obtaining a pseudo-spherical coordinate system based on a WGS84 coordinate system and an ink card bracket projection of a flight simulator, wherein the pseudo-spherical coordinate system comprises the following components:
s11, obtaining the latitude of the aircraft under a WGS84 coordinate system according to the ink card bracket projection of the flight simulator;
s12, obtaining a scaling factor according to the latitude, wherein the scaling factor is used for scaling the height of the flight simulator under the projection of the ink card support to obtain a scaling height;
s13, obtaining the coordinates of any point of the pseudo-spherical coordinate system according to the Mokato projection and the zoom height;
s2, dynamically modifying the three-dimensional position of the flight simulator in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
s3, dynamically modifying three-dimensional positions of other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
s4, repeating the steps S2-S3 to form a flight simulator view based on the pseudo-spherical coordinate system.
2. According to claim 1The method for generating the vision of the flight simulator of the pseudo-spherical coordinate system is characterized in that the latitude in the S11 is determined by the following formula:
wherein->
Taking the X coordinate of any point k in the plane of the known ink card holder projection, +.>
Is the latitude value of point k in the WGS84 coordinate system.
3. The method for generating a pseudo-spherical visual scene for a flight simulator according to claim 2, wherein the scaling factor in S12 is determined by the following formula:
the zoom height is determined by the following formula:
Wherein->
For a known altitude of point k in WGS84 coordinate system,
is the height above the pseudo-sphere.
4. The method for generating a visual scene of a flight simulator of a pseudo-spherical coordinate system according to claim 1, wherein the coordinates of any point of said pseudo-spherical coordinate system are determined by the following formula:
wherein, the method comprises the steps of, wherein,
for the abscissa and ordinate of the flight simulator in the pseudo-spherical coordinate system within the view,
for the abscissa of the flight simulator under the plane of the projection of the ink card holder, +.>
Is the ordinate of the flight simulator under the plane of the projection of the ink card support.
5. The method for generating a pseudo-spherical visual scene for a flight simulator of claim 4, wherein said abscissa is
Is determined by the following formula:
Wherein->
Is the real-time latitude of the location point of the flight simulator in the WGS84 coordinate system.
6. The method for generating a pseudo-spherical visual scene for a flight simulator of claim 4, wherein said ordinate is
Is determined by the following formula:
Wherein->
Real-time longitude r is the radius of the earth for the location point of the flight simulator under the WGS84 coordinate system, +.>
Is the circumference ratio. />
7. The method for generating a visual scene for a flight simulator in a pseudo-spherical coordinate system as recited in claim 1, wherein said other objects in S3 comprise terrain.
8. A pseudo-spherical coordinate system flight simulator view generation device for implementing the method of any one of claims 1-7, comprising:
the pseudo-spherical generating module is used for obtaining a pseudo-spherical coordinate system based on a WGS84 coordinate system of the flight simulator and the ink card bracket projection;
the first dynamic modification module is used for dynamically modifying the three-dimensional position of the flight simulator in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
the second dynamic modification module is used for dynamically modifying the three-dimensional positions of other objects in the WGS84 coordinate system view according to the pseudo-spherical coordinate system;
and the view generation module is used for forming a flight simulator view based on the pseudo-spherical coordinate system according to the modification results of the first dynamic modification module and the second dynamic modification module.
9. A computer device comprising a processor and a memory, the memory having stored therein a computer program that is loaded and executed by the processor to implement the method of any of claims 1 to 7.
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